IEEE Transactions on Industrial Electronics

Volume 56, Number 3, March 2009 Access to the journal on IEEE XPLORE IE Transactions Home Page

56.3.1	"Table of Contents," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. C1-605, March 2009. Abstract Link Full Text Abstract: Not Available
56.3.2	"IEEE Transactions on Industrial Electronics publication information," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. C2-C2, March 2009. Abstract Link Full Text Abstract: Not Available Special Section on The 2007 IEEE International Symposium on Industrial Electronics.
56.3.3	J. J. Rodrguez-Andina, J. J. Hung, "Guest Editorial," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 606-607, March 2009. Abstract Link Full Text Abstract: Not Available Special Section Papers
56.3.4	K. Bouyoucef, K. Khorasani, "A Robust Distributed Congestion-Control Strategy for Differentiated-Services Network," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 608-617, March 2009. Abstract Link Full Text Abstract: In this paper, we propose a new robust congestion-control strategy for a differentiated-services (DiffServ) network. A sliding-mode-based variable structure control technique is utilized to design a congestion controller on the basis of a fluid flow model. The performance of our proposed scheme is then demonstrated on a DiffServ network. Our proposed algorithm is developed for an interconnected network as a hop-by-hop distributed-control approach. A formal analysis of the controlled network is conducted, where it is shown that the error dynamics of the overall time-delay-dependent system is ${cal L}_{infty}$ stable. Numerical simulations are provided to demonstrate the capabilities of our proposed methodology.
56.3.5	H. Tanaka, K. Ohnishi, H. Nishi, T. Kawai, Y. Morikawa, S. Ozawa, T. Furukawa, "Implementation of Bilateral Control System Based on Acceleration Control Using FPGA for Multi-DOF Haptic Endoscopic Surgery Robot," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 618-627, March 2009. Abstract Link Full Text Abstract: Bilateral control systems are strongly required to apply to endoscopic surgeries. It is necessary that the system has enough degrees of freedom for applying various operation procedures including endoscopic surgery. When the degrees of freedom of the system are increased, the amount of control calculation is also increased, and it is hard to keep sampling periods short. The bilateral control systems, however, require comparatively shorter sampling periods, particularly the control system based on an acceleration control system. Hence, it is a difficult issue to increase the degrees of freedom of the bilateral control system. In this paper, the sampling period is kept short in the multi-degree of freedom system by using field programmable gate arrays as processors. The bilateral control system based on the acceleration control system is implemented in a robot system, which has 12 DOF, and some experimental results are shown, and the errors between the response of the master and slave robots are discussed.
56.3.6	K. Seki, M. Iwasaki, M. Kawafuku, H. Hirai, K. Kishida, "Practical Controller Design of Hybrid Experimental System for Seismic Tests," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 628-634, March 2009. Abstract Link Full Text Abstract: A hybrid experimental system is one of the powerful tools to perform various seismic tests for unknown and/or huge structures, where an actuator-excited experimental vibratory system and a computational response analysis are simultaneously combined and implemented. This paper presents a control methodology for high-performance hybrid experimental systems. A 2-DOF control framework is applied from the viewpoint of control techniques, where a feedback compensator is designed according to the system stabilization analysis, and a feedforward (FF) compensator is designed to achieve the desired servocharacteristics. In the FF compensator design, an iterative learning control approach is particularly adopted to eliminate the response delays in the hydraulic actuator. The proposed compensation algorithm has been verified using a laboratory hybrid experimental set up with two-mass structure as a load mechanism.
56.3.7	N. Hirose, M. Iwasaki, M. Kawafuku, H. Hirai, "Initial Value Compensation Using Additional Input for Semi-Closed Control Systems," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 635-641, March 2009. Abstract Link Full Text Abstract: This paper presents a novel initial value compensation (IVC) using an additional input for semi-closed control systems. The authors have already proposed the IVC approach using the additional input for residual vibration suppression in the fast and precise positioning control. In the approach, however, an essential subject has remained, i.e., the positioning control in the load side could not satisfy the required performance because the systems have been constructed under the assumption of a semi-closed control system. An improvement of the control performance in load position, therefore, is discussed in this paper, where the appropriate assignments of poles and zeros in IVC are ensured, considering the transfer functions of position in both sensor and load for the control initial values. The effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype.
56.3.8	I. Yaesh, U. Shaked, "Neuro-Adaptive $H_{infty}$ Estimation and Its Application to Improved Tracking in GPS Receivers," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 642-647, March 2009. Abstract Link Full Text Abstract: A neuro-adaptive scheme is suggested for improving the tracking properties of $H_{infty}$-optimal filters. The design approach is based on embedding the $H_{infty}$-optimal filter within a simplified adaptive control loop that is driven by the innovation process. The stability of the overall estimation scheme is established under strictly passive conditions of a related system. The suggested method is applied to improve the tracking properties of a GPS receiver during user maneuvers.
56.3.9	M. Zamora, H. Wu, M. P. Henry, "An FPGA Implementation of Frequency Output," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 648-653, March 2009. Abstract Link Full Text Abstract: Digital frequency input and output (typically in the range 1 Hz to 100 kHz) for data transmission are employed in many industrial applications. This paper provides the following elaborations of the ISIE'07 conference paper. A thorough literature review suggests that previous techniques can be classified into three basic approaches. Theoretical expressions for the errors of each are derived and compared with the new approach developed by the authors. Each method has been implemented in a more recent field programmable gate array architecture (Spartan 3), and the results are consistent with the theoretical values. The new method provides a precision of 6 $times$ 10$^{-6}$ % or better for all frequencies, based on a 40-MHz clock.
56.3.10	E. J. Bueno, Á. Hernandez, F. J. Rodriguez, C. Giron, R. Mateos, S. Cobreces, "A DSP- and FPGA-Based Industrial Control With High-Speed Communication Interfaces for Grid Converters Applied to Distributed Power Generation Systems," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 654-669, March 2009. Abstract Link Full Text Abstract: New energy concepts such as distributed power generation systems (DPGSs) are changing the face of electric distribution and transmission. Power electronics researchers try to apply new electronic controller solutions with the capacity of implementing new and more complex control algorithms combined with internal high-speed communication interfaces. Thus, it is possible to monitor, store, and transfer a large number of internal variables that can be sent online to local or remote hosts in order to take new set points of different generation units. With this objective, this paper presents the design, implementation, and test of an industrial multiprocessor controller based on a floating-point digital signal processor (DSP) and a field-programmable gate array, which operate cooperatively. The communication architecture, which has been added to the proposed electronic solution, consists of a universal serial bus (USB), implemented with a minimum use of the DSP core, and a controller area network (CAN) bus that permits distributed control. Although the proposed system can be readily applied to any DPGS, in this paper, it is focused on a 150-kVA back-to-back three-level neutral-point-clamped voltage source converter for wind turbine applications.
56.3.11	V. F. Corasaniti, M. B. Barbieri, P. L. Arnera, M. I. Valla, "Hybrid Active Filter for Reactive and Harmonics Compensation in a Distribution Network," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 670-677, March 2009. Abstract Link Full Text Abstract: The problem of reactive power and harmonics in the medium voltage level of a power distribution system is considered in this paper. Reconfiguration of the power delivery network imposes new constraints in a distribution substation so that the reactive compensation should be increased. The alternative of a shunt hybrid active filter connected to the 13.8-kV level to enhance the power quality is analyzed in this paper. This proposal uses the existing capacitor bank to build a hybrid filter in which the complementary compensation is performed by the active filter. The performance of the hybrid filter is evaluated with extensive simulations considering reactive power, harmonics, and unbalance compensation. It shows very good behavior in steady-state and transient conditions.
56.3.12	E. Clavel, J. Roudet, T. Chevalier, D. M. Postariu, "Modeling of Connections Taking Into Account Return Plane: Application to EMI Modeling for Railway," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 678-684, March 2009. Abstract Link Full Text Abstract: The modeling of electrical characteristics of connections is an important stage of the design phase of a structure. Indeed, they have an impact on the current density distributions inside conductors as well as on the current distributions when several components are connected in parallel. In the case of a return plane in the studied structure as for power electronics converters or railway applications, the model of connections has to be improved in order to represent the physics better. For the first application field, the cooling system itself can be a ground plane, and for the second one, the earth has to be modeled. This paper presents different ways to take into account a return plane while modeling the electrical equivalent circuit of connections above it. It starts with the simplest one, the image method, and continues with the use of a complex skin depth result of solving the Carson integral.
56.3.13	C. A. Ramos-Paja, C. Bordons, A. Romero, R. Giral, L. Martinez-Salamero, "Minimum Fuel Consumption Strategy for PEM Fuel Cells," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 685-696, March 2009. Abstract Link Full Text Abstract: This paper proposes a proton exchange membrane fuel cell control strategy to produce the power requested by an electrical load, minimizing the fuel consumption and also providing a regulated dc bus voltage to the load. The power system consists of a hybrid fuel cell/capacitor topology, and the control objective is to follow the minimum fuel consumption points for a given load power profile. This is done by controlling the air pump voltage and regulating the fuel cell current through a dc/dc switching converter. Moreover, the design and control parameters of the output dc bus are discussed, and the calculations are adjusted to a Ballard 1.2-kW Nexa power module. Finally, the control results, fuel consumption, and fuel cell protection against oxygen starvation phenomenon are analyzed and experimentally validated, contrasting its performance with the Nexa power module internal control system.
56.3.14	J. L. Sosa, M. Castilla, J. Miret, L. Garcia de Vicuna, J. Matas, "Modeling and Performance Analysis of the DC/DC Series–Parallel Resonant Converter Operating With Discrete Self-Sustained Phase-Shift Modulation Technique," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 697-705, March 2009. Abstract Link Full Text Abstract: A dynamic study of the dc/dc series–parallel resonant converter operating with a discrete self-sustained phase-shift modulation technique is presented. The study includes the synthesis of a suitable averaged large-signal dynamic model and the design of a nonlinear feedback controller based in the input–output linearization approach. The proposed controller and modulation type provide some outstanding features: zero-voltage switching operation for the whole load range, narrowed frequency variation range, fast transient response, and robustness in relation to external parameter variations. Experimental and simulation results are reported to validate the theoretical predictions and confirm the superior performance of the nonlinear controller when it is compared with a conventional linear controller.
56.3.15	E. Figueres, G. Garcera, J. Sandia, F. Gonzalez-Espin, J. Calvo Rubio, "Sensitivity Study of the Dynamics of Three-Phase Photovoltaic Inverters With an LCL Grid Filter," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 706-717, March 2009. Abstract Link Full Text Abstract: An accurate small-signal model of three-phase photovoltaic (PV) inverters with a high-order grid filter is derived in this paper. The proposed model takes into account the influence of both the inverter operating point and the PV panel characteristics on the inverter dynamic response. A sensitivity study of the control loops to variations of the dc voltage, PV panel transconductance, supplied power, and grid inductance is performed using the proposed small-signal model. Analytical and experimental results carried out on a 100-kW PV inverter are presented.
56.3.16	R. Orletti, M. A. Co, D. S. L. Simonetti, J. L. F. Vieira, "HID Lamp Electronic Ballast With Reduced Component Number," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 718-725, March 2009. Abstract Link Full Text Abstract: A reduced-component-number single-stage power-processing electronic ballast to drive high-intensity discharge lamps is presented in this paper. A dc–dc buck converter, which controls the current and the power of the lamp, a power factor preregulator based on a discontinuous conduction mode boost converter, and the inverter are combined in a boost integrated with buck rectifier/energy storage/dc–dc converter. It operates with a line-frequency square-wave current driving the lamp. The signals of the power stages are provided by a dedicated microcontroller. Ballast for sodium vapor lamps of 70 W without acoustic resonance was implemented, resulting in a $pf = 0.97$ with 22% total harmonic distortion and $eta = 84%$.
56.3.17	J. M. Guerrero, J. C. Vasquez, J. Matas, M. Castilla, L. Garcia de Vicuna, "Control Strategy for Flexible Microgrid Based on Parallel Line-Interactive UPS Systems," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 726-736, March 2009. Abstract Link Full Text Abstract: In this paper, the control strategy for a flexible microgrid is presented. The microgrid presented here consists of several line-interactive uninterruptible power supply (UPS) systems connected in parallel. The control technique is based on the droop method to avoid critical communications among UPS units. Thus, a flexible microgrid is obtained to operate in either grid-connected or islanded mode. A small-signal analysis is presented in order to analyze the system stability, which gives rules to design the main control parameters. Simulation and experimental results are presented, showing the feasibility of the proposed controller.
56.3.18	T. Zhou, B. Francois, M. el Hadi Lebbal, S. Lecoeuche, "Real-Time Emulation of a Hydrogen-Production Process for Assessment of an Active Wind-Energy Conversion System," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 737-746, March 2009. Abstract Link Full Text Abstract: This paper presents the real-time emulation of a hydrogen-production process for assessment of an active wind-energy conversion system. The hardware-in-the-loop emulator of the electrolyzer consists of a power-electronic stage and a control stage. In the control board, the algorithmic equations of the electrolyzer modeling and its control should be implemented, as well as the emulator's power converter control. The causal ordering graph is used to model the electrolyzer and its auxiliary equipment. This model is capable of characterizing the relations among the different physical quantities and can be used to design the control system, ensuring an efficient and reliable operation of the electrolyzer. The proposed control method can manage the power and hydrogen flows. The simulation results have highlighted the variation domains and the relations among different physical quantities. The experimental results of the real-time emulation is based on a PHOEBUS advanced alkaline electrolyzer and shows the same electrical characteristics in real time with hardware.
56.3.19	A. Flammini, D. Marioli, E. Sisinni, A. Taroni, "Design and Implementation of a Wireless Fieldbus for Plastic Machineries," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 747-755, March 2009. Abstract Link Full Text Abstract: Fieldbus systems are well known in the industrial automation world. Due to the increasing demand for scalability and capability of working in harsh environment, the use of wireless communication is gaining in importance. In the past, some efforts were pursued to encapsulate wired standards over wireless link, but their diffusion is limited by reliability and predictability requirements. In addition, event-driven protocols borrowed from the consumer world (as IEEE802.11 or IEEE802.15.4) are not well suited for some industrial applications. In this paper, authors present the design and the experimental evaluation of a wireless real-time communication protocol that tries to overcome these limits. It exploits standard hardware to lower cost and implements a hybrid medium access strategy. Time Division Multiple Access scheduling is used to ensure time deadlines respect, while Carrier Sense Multiple Access with Collision Avoidance is used for acyclic communications, as those involved in network management. It has been successfully adopted for temperature monitoring in plastic machineries. The prototype network adopts star topology and can manage up to 16 nodes with a refresh time of 128 ms.
56.3.20	M. J. Ferreira, C. Santos, J. Monteiro, "Cork Parquet Quality Control Vision System Based on Texture Segmentation and Fuzzy Grammar," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 756-765, March 2009. Abstract Link Full Text Abstract: This paper presents a quality control vision system developed for the inspection of cork parquets that is already applied in the Portuguese cork industry. It is devoted specifically to the most critical quality issues: visibility of the lowest layer (BASE) on the noble layer ( UPPER) and the homogeneity of this noble layer. Since these aspects are related with the texture of the raw material, the system was based on texture segmentation techniques. Features used were extracted from detail images of the wavelet transform. The classifier consists of a fuzzy grammar inference system. The segmentation procedure revealed a good performance indicated by high classification rates. Behavior in the industrial environment has been demonstrating high performance, revealing good perspectives for full spread industrialization.
56.3.21	J. Gamez Garcia, J. Gomez Ortega, A. Sanchez Garcia, S. Satorres Martinez, "Robotic Software Architecture for Multisensor Fusion System," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 766-777, March 2009. Abstract Link Full Text Abstract: As robotic systems are becoming more complex, distributed, and integrated, there is the need to build sophisticated frameworks to embody intelligence in the robot. This paper presents a component-based software architecture for the integration of industrial robotic platforms with multisensor systems where data fusion is relevant. The architecture is based on an open software robotic platform that is able to fulfill capabilities such as openness, interoperability, adaptability, and modularity, with the addition of hardware in the loop simulator. The resulting robot platform permits easy implementation of model- and sensor-based control concepts, proving to be interesting for robotics research. In addition, it allows the integration of standard industrial components. The entire system has been successfully developed, implemented, and demonstrated for robotic tasks, where multiple and different sensors are required. Single-Phase Electronics
56.3.22	K. Sundareswaran, V. T. Sreedevi, "Boost Converter Controller Design Using Queen-Bee-Assisted GA," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 778-783, March 2009. Abstract Link Full Text Abstract: We propose a new method of controller design for a boost converter in this paper. An optimization model for the controller design is developed, and solution is sought through a novel optimization algorithm which combines standard Genetic Algorithm (GA) with evolution of a queen bee in a hive. Computed and measured results suggest that the new algorithm converges to the best designs on a limited number of iterations.
56.3.23	K. Zhou, D. Wang, B. Zhang, Y. Wang, "Plug-In Dual-Mode-Structure Repetitive Controller for CVCF PWM Inverters," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 784-791, March 2009. Abstract Link Full Text Abstract: Repetitive control (RC) is found to be a high-performance control scheme for constant-voltage constant-frequency (CVCF) pulsewidth-modulated (PWM) converters to eliminate output total harmonic distortion. In this paper, a dual-mode-structure RC (DMRC) is proposed to further improve the control performance of RC. The proposed DMRC controller comprises of two paralleled periodic signal generators: an odd-harmonic one and an even-harmonic one. Without additional complexity and loss of tracking accuracy, DMRC can achieve a faster error convergence rate than the conventional RC does. Moreover, the tracking accuracy of DMRC is higher than that of odd-harmonic RC. In the presence of nonlinear load disturbances and parameter uncertainties, an application example of a DMRC-controlled single-phase PWM inverter is provided to evaluate the proposed DMRC scheme. Systematical experimental results show the effectiveness and superior advantages of the DMRC approach. Multiphase Systems
56.3.24	Ó. Lopez, J. Alvarez, J. Doval-Gandoy, F. D. Freijedo, "Multilevel Multiphase Space Vector PWM Algorithm With Switching State Redundancy," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 792-804, March 2009. Abstract Link Full Text Abstract: Multilevel multiphase technology combines the benefits of multilevel converters and multiphase machines. Nevertheless, new modulation techniques must be developed to take advantage of multilevel multiphase converters. In this paper, a new space vector pulsewidth modulation algorithm for multilevel multiphase voltage source converters with switching state redundancy is introduced. As in three-phase converters, the switching state redundancy permits to achieve different goals like extending the modulation index and reducing the number of switchings. This new algorithm can be applied to the most usual multilevel topologies; it has low computational complexity, and it is suitable for hardware implementations. Finally, the algorithm was implemented in a field-programmable gate array, and it was tested by using a five-level five-phase inverter feeding a motor.
56.3.25	H. Bai, Z. Zhao, C. Mi, "Framework and Research Methodology of Short-Timescale Pulsed Power Phenomena in High-Voltage and High-Power Converters," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 805-816, March 2009. Abstract Link Full Text Abstract: Various short-timescale transients exist in power electronic converters, particularly in high-voltage and high-power systems. The timescales of these transients are from nanoseconds to microseconds, including a switching transition of power semiconductor devices, commutating processes, and drive signal transmissions. These transient processes directly affect the performance and reliability of power electronic systems. Therefore, it is necessary to study these short-timescale processes. Based on two high-power prototype power converters, a 6000-V/1250-kW three-level adjustable-speed drive and a 10-kW/600-V dc–dc converter, this paper studies the various abnormal behaviors of the converters that occurred during the operation of these converters. Dead bands and accumulated switching errors are also investigated. A combined microscopic pulsed power and macroscopic control strategy was proposed for the design of power electronic converters. Three new concepts for power electronic converters are introduced and validated in this paper: 1) sneak pulse; 2) energy dead band; and 3) transient commutating topology. Renewable Energy Systems
56.3.26	E. Echenique, J. Dixon, R. Cardenas, R. Pena, "Sensorless Control for a Switched Reluctance Wind Generator, Based on Current Slopes and Neural Networks," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 817-825, March 2009. Abstract Link Full Text Abstract: In this paper, the analysis, design, and implementation of a novel rotor position estimator for the control of variable-speed switched reluctance generators (SRGs) are presented. The rotor position is obtained using the unsaturated instantaneous inductance. This unsaturated inductance is estimated calculating the slope of the phase current and using a reduced-size neural network (NN) whose inputs are the average current and the saturated inductance. The proposed estimator requires less processing time than traditional methods and can be fully implemented using a low-cost DSP with very few additional analog/digital components. The rotor position estimator presented in this paper can be applied to a wind energy conversion system where the SRG is used as a variable-speed generator. This application is currently being studied because the SRG has well-known advantages such as robustness, low manufacturing cost, and good size-to-power ratio. Simulation and experimental results are presented using a 2.5-kW 8/6-SRG prototype.
56.3.27	J.-M. Kwon, E.-H. Kim, B.-H. Kwon, K.-H. Nam, "High-Efficiency Fuel Cell Power Conditioning System With Input Current Ripple Reduction," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 826-834, March 2009. Abstract Link Full Text Abstract: A high-efficiency fuel cell power conditioning system with input current ripple reduction is proposed. The proposed system consists of a high-efficiency high-step-up current-fed resonant push–pull converter and a full-bridge inverter. The converter conserves inherent advantages of a conventional current-fed push–pull converter such as low input-current stress and high voltage conversion ratio. Also, a voltage-doubler rectifier is employed in order to remove the reverse-recovery problem of the output rectifying diodes and provide much higher voltage conversion ratio. The current ripple reduction control without an external component is suggested. Therefore, the proposed system operates in a wide input-voltage range with a high efficiency. By using a current-ripple reduction control, the input current ripple is furthermore reduced. A 1.5-kW prototype is implemented with input-voltage range from 30 to 70 V. Experimental results show that minimum efficiency at full load is about 92.5% and that ripple current is less than 2% of the rated input current. Robotics and Mechatronics
56.3.28	K. Erbatur, O. Kurt, "Natural ZMP Trajectories for Biped Robot Reference Generation," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 835-845, March 2009. Abstract Link Full Text Abstract: The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics. Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model (LIPM) and Zero Moment Point (ZMP) Criterion-based approaches in stable walking reference generation are reported. In these methods, generally, the ZMP reference during a stepping motion is kept fixed in the middle of the supporting foot sole. This kind of reference generation lacks naturalness, in that the ZMP in the human walk does not stay fixed, but it moves forward under the supporting foot. This paper proposes a reference generation algorithm based on the LIPM and moving support foot ZMP references. The application of Fourier series approximation simplifies the solution, and it generates a smooth ZMP reference. A simple inverse kinematics-based joint space controller is used for the tests of the developed reference trajectory through full-dynamics 3-D simulation. A 12-DOF biped robot model is used in the simulations. Simulation studies suggest that the moving ZMP references are more energy efficient than the ones with fixed ZMP under the supporting foot. The results are promising for implementations.
56.3.29	C.-L. Hwang, C.-Y. Shih, "A Distributed Active-Vision Network-Space Approach for the Navigation of a Car-Like Wheeled Robot," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 846-855, March 2009. Abstract Link Full Text Abstract: The navigation for a car-like wheeled robot (CLWR) in a distributed active-vision network-space system (DAVNSS) subject to three fuzzy variable-structure decentralized controls (FVSDCs) is developed. The scheme also includes trajectory tracking and obstacle avoidance. Two distributed wireless charge-coupled-device (CCD) cameras individually driven by two stepping motors, viz., active CCD1 and active CCD2 (or simply ACCD1 and ACCD2), are constructed to capture the dynamic pose of the CLWR and the obstacle. The proposed control system includes quad processors with multiple sampling rates. First, a personal computer (PC) is employed to receive the image of the CLWR or obstacle from ACCD1 or ACCD2 by a wireless transmitter and then to plan three reference commands for CLWR, ACCD1, and ACCD2. Next, a six-step image-processing routine and the calibration between the world coordinate and the image plane coordinate using multilayer perceptrons (MLPs) are established. Finally, experiments are performed to validate the proposed control system.
56.3.30	J. U. Cho, Q. N. Le, J. W. Jeon, "An FPGA-Based Multiple-Axis Motion Control Chip," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 856-870, March 2009. Abstract Link Full Text Abstract: This paper presents the design and implementation of a multiple-axis motion control chip using a field-programmable gate array (FPGA). This multiple-axis motion control chip is designed to control a multiple-axis motion system such as a robotic arm manipulator or a computer numerical control machine. The proposed motion control chip has many functions. These include velocity profile generation, interpolation calculation, inverse kinematics calculation, proportional–integral–derivative control, feedback count, pulse integration, data conversion, clock generation, and external interfacing. These functions are designed using the VHSIC hardware description language and implemented on an FPGA according to the electronic design automation design methodology. This allows for a highly sampled, accurate, flexible, compact, low-power, and low-cost motion control system. The detailed design of the proposed motion control chip is presented. A multiple-axis motion control system using this chip is implemented, and its performance is measured. The multiple-axis motion control system is implemented on a platform consisting of a chip-based multiple-axis motion controller, analog ac servo drivers, a selective compliant assembly robot arm robot, and a host personal computer. Motors and Actuators
56.3.31	A. Boglietti, A. Cavagnino, D. Staton, M. Shanel, M. Mueller, C. Mejuto, "Evolution and Modern Approaches for Thermal Analysis of Electrical Machines," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 871-882, March 2009. Abstract Link Full Text Abstract: In this paper, the authors present an extended survey on the evolution and the modern approaches in the thermal analysis of electrical machines. The improvements and the new techniques proposed in the last decade are analyzed in depth and compared in order to highlight the qualities and defects of each. In particular, thermal analysis based on lumped-parameter thermal network, finite-element analysis, and computational fluid dynamics are considered in this paper. In addition, an overview of the problems linked to the thermal parameter determination and computation is proposed and discussed. Taking into account the aims of this paper, a detailed list of books and papers is reported in the references to help researchers interested in these topics. Drive Control
56.3.32	X. Yuan, Y. Wang, "A Novel Electronic-Throttle-Valve Controller Based on Approximate Model Method," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 883-890, March 2009. Abstract Link Full Text Abstract: An electronic throttle is a dc servo drive which positions the throttle plate, thus providing drive-by-wire control of engine torque. In this paper, an approximate model-based robust nonlinear control (AMRNC) strategy is proposed for electronic throttle valve. The AMRNC includes two main parts: approximate model controller and uncertainty compensation. The approximate model controller, utilized as a feedforward controller, is developed from a linearization of the input–output model of the plant using Taylor expansion technique, and it is implemented using fuzzy system modeling. Moreover, a robustness filter in the feedback structure is employed as uncertainty compensation. The robust stability is established by Lyapunov stability theorem. A Simulation and an experiment are provided to verify the effectiveness of the AMRNC strategy. Diagnosis and Monitoring
56.3.33	X. Chen, "Real Wavelet Transform-Based Phase Information Extraction Method: Theory and Demonstrations," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 891-899, March 2009. Abstract Link Full Text Abstract: Complex wavelet transform (CoWT)-based phase information (PI) extraction methods are popular. None of them is simultaneously simple, fast, and nonredundant. Real discrete wavelet transform (RDWT) is simple, fast, and nonredundant, but it is usually regarded to be lacking PI. After finding out that RDWT conserves the PI of an analyzed signal, this paper proposed three RDWT-based PI extraction methods and proved that RDWT-based PI extraction methods are equal to CoWT-based ones from the mathematical point of view. Therefore, RDWT-based methods not only can extract PI but also can inherit all merits of RDWT. This paper further presented a quadrature procedure to extract the actual phase of single-frequency or asymptotic signals. Test examples demonstrated that the extracted PI by using the CoWT- and RDWT-based methods is almost the same, and the extracted phase curves by using the RDWT-based quadrature method are really the actual ones. Some engineering applications of the proposed method are discussed, and the PI extraction programs of the method are given. Emerging Technology
56.3.34	J. Han, "From PID to Active Disturbance Rejection Control," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 900-906, March 2009. Abstract Link Full Text Abstract: Active disturbance rejection control (ADRC) can be summarized as follows: it inherits from proportional–integral–derivative (PID) the quality that makes it such a success: the error driven, rather than model-based, control law; it takes from modern control theory its best offering: the state observer; it embraces the power of nonlinear feedback and puts it to full use; it is a useful digital control technology developed out of an experimental platform rooted in computer simulations. ADRC is made possible only when control is taken as an experimental science, instead of a mathematical one. It is motivated by the ever increasing demands from industry that requires the control technology to move beyond PID, which has dominated the practice for over 80 years. Specifically, there are four areas of weakness in PID that we strive to address: 1) the error computation; 2) noise degradation in the derivative control; 3) oversimplification and the loss of performance in the control law in the form of a linear weighted sum; and 4) complications brought by the integral control. Correspondingly, we propose four distinct measures: 1) a simple differential equation as a transient trajectory generator; 2) a noise-tolerant tracking differentiator; 3) the nonlinear control laws; and 4) the concept and method of total disturbance estimation and rejection. Together, they form a new set of tools and a new way of control design. Times and again in experiments and on factory floors, ADRC proves to be a capable replacement of PID with unmistakable advantage in performance and practicality, providing solutions to pressing engineering problems of today. With the new outlook and possibilities that ADRC represents, we further believe that control engineering may very well break the hold of classical PID and enter a new era, an era that brings back the spirit of innovations.
56.3.35	"Scitopia.org," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 907-907, March 2009. Abstract Link Full Text Abstract: Not Available
56.3.36	"Access over 1 million articles-the IEEE Digital Library," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. 908-908, March 2009. Abstract Link Full Text Abstract: Not Available
56.3.37	"IEEE Industrial Electronics Society Information," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. C3-C3, March 2009. Abstract Link Full Text Abstract: Not Available
56.3.38	"IEEE Transactions on Industrial Electronics information for authors," IEEE Trans. on Industrial Electronics, vol. 56, no. 3, pp. C4-C4, March 2009. Abstract Link Full Text Abstract: Not Available