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059 Identification and control of electrical drives
Abstracts vehicle performs a set of transportation operations. The aim is to perform all operations in a shortest possible time, avoiding any collisions. The approximate algorithm was developed which uses a heuristic search of state-space graphs. The conclusion from a number of experiments is that the algorithm is able to fmd a nearoptimal solution. If a great number of vehicles move simultaneously, the computation time becomes significant. For this reason a modified algorithm was developed. It is faster while the decrease of the control quality is relatively small.
053 Task Space Control of the Delta Parallel Robot P. Guglielmetti, R. Longchamp, pp 337-342 Inverse kinematics relations of the Delta parallel are obtained. It is shown that they have a very different structure than kinematic models of serial robots. A new formulation of the inverse dynamics of the Delta robot is derived. It is referred to as a model "in the two spaces" since it requires the robot state variables both in joint space and in task space. This model is used in a computed torque-based control scheme with a linear feedback in task space. The required computations are parallelised and pipelined so that a four-processor transputer-based controller can achieve a sampling period of less than 1 millisecond.
054 High Performance Robot Controller Based on WEDSP 32C D. Ciscato, R. Oboe, pp 343-347 An eight-axis controller for robotics applications is described, based on a DSP (Digital Signal Processor). The DSP performs not only the control computations but also the interfacing to the drives with a sampling time of less than 1 ms. The system (DSP board and I/O modules) is connected to a standard PC through a serial link or a high-speed parallel interface to exchange data and programs. The architecture of the controller is described and performance figures are given. Two control algorithms have been implemented in the DSP system designed, and their performances are described.
731 computers that can be used in standalone or in "bus mode", together with many interface cards. The most important point of innovation is that the bus is not a traditional microprocessor or computer one, but an original analog/digital bus. The system is suited for improving the performance of drives: dedicated routines with special hardware resources solve the most diffuse problems of motion control, while high-levd languages are available for custom programs. Performances are measured on a high-speed flying shear for the steel industry.
057 Microcomputer Control for Electrical Drives and Synchronous Generators L. Bojtor, B. Nagy, G. Rakovszky, pp 361-366 A new microcomputer-based process control system (GANZ DCS) has been developed at Ganz Ansaldo Ltd primarily for power electronic applications. The main features of the system are flexibility, increased reliability, cost-efficient adaptation and high-level diagnostics. A new microcomputer controller for power plant generators is introduced as an application of the GANZ DCS. The redundant construction, the different operating modes and the control structure are studied in detail. The stator voltage and current feedback calculations based on Park's equations are discussed. The prototype system has been tested and the results are presented in the paper.
058 Robust and Adaptive Control Strategies T. Murarami, K. Ohnishl, pp 367-372 The paper describes a dynamics identification algorithm based on a disturbance observer in a multi-degree-offreedom manipulator. In the conventional approach, the disturbance observer is used to increase the robustness of the manipulator. In the paper, the disturbance observer is utilized to identify the dynamics of the manipulator. First, the structure of the disturbance observer is simply shown. Second, the parameter identification algorithm based on the disturbance observer is explained. Finally, the numerical and the experimental results confirm the validity of the proposed method.
055 A High-Performance Microprocessor-Controlled PWM Inverter for AC Motor Drives E. Faldella, F. Gigli, pp 349-354 The paper describes a digitally controlled voltage-source three-phase inverter for ac motor drive applications. High inverter performances, with regard to output spectral quality, power conversion efficiency and switching losses, are obtained throughout the overall operating range by dynamically exploiting different advanced pulse width modulations (PWM) techniques. A muhiprocessor architecture has been devised, which handles both the drive high-level control tasks and the on-line synthesis process of the inverter three-phase switching pattern without the need of specialized hardware. Extensive simulation studies as well as preliminary experimental tests have emphasized the validity and wide applicability of the fully digital solution conceived for drive control.
056 New Microprocessor System Eases Custom Controls Building-Up P.L.G. Malapelle, pp 355-359 The paper describes a new microprocessor-based system especially suited for low-cost or distributed industrial controls. It is based on a variety of single-board
059 Identification and Control of Electrical Drives I.D. Landau, F. Rolland, pp 373-376 The identification techniques and digital control design techniques used for electrical drives are reviewed. The methodology is illustrated by the plant identification and the design and implementation of a digital controller for a DC motor speed loop. Experimental results are given.
060 Improvement of Reference Tracking Capability of Digital Motion Control Systems H. Weingarten, pp 377-382 Good reference trajectory tracking is required in many applications. In this paper it is shown how to design the application of reference speed and velocity to a positioning system in order to introduce zeros into the transfer function. These zeros are of equal importance for system dynamics as the poles. System performance is shown for a deadbeat conlloller design and for pole placement and quadratic criteria minimisation for continuous and discrete design. Good reference tracking is necessary to specify controller power by the shape of reference trajectory.
053 Task Space Control of the Delta Parallel Robot P. Guglielmetti, R. Longchamp, pp 337-342 Inverse kinematics relations of the Delta parallel are obtained. It is shown that they have a very different structure than kinematic models of serial robots. A new formulation of the inverse dynamics of the Delta robot is derived. It is referred to as a model "in the two spaces" since it requires the robot state variables both in joint space and in task space. This model is used in a computed torque-based control scheme with a linear feedback in task space. The required computations are parallelised and pipelined so that a four-processor transputer-based controller can achieve a sampling period of less than 1 millisecond.
054 High Performance Robot Controller Based on WEDSP 32C D. Ciscato, R. Oboe, pp 343-347 An eight-axis controller for robotics applications is described, based on a DSP (Digital Signal Processor). The DSP performs not only the control computations but also the interfacing to the drives with a sampling time of less than 1 ms. The system (DSP board and I/O modules) is connected to a standard PC through a serial link or a high-speed parallel interface to exchange data and programs. The architecture of the controller is described and performance figures are given. Two control algorithms have been implemented in the DSP system designed, and their performances are described.
731 computers that can be used in standalone or in "bus mode", together with many interface cards. The most important point of innovation is that the bus is not a traditional microprocessor or computer one, but an original analog/digital bus. The system is suited for improving the performance of drives: dedicated routines with special hardware resources solve the most diffuse problems of motion control, while high-levd languages are available for custom programs. Performances are measured on a high-speed flying shear for the steel industry.
057 Microcomputer Control for Electrical Drives and Synchronous Generators L. Bojtor, B. Nagy, G. Rakovszky, pp 361-366 A new microcomputer-based process control system (GANZ DCS) has been developed at Ganz Ansaldo Ltd primarily for power electronic applications. The main features of the system are flexibility, increased reliability, cost-efficient adaptation and high-level diagnostics. A new microcomputer controller for power plant generators is introduced as an application of the GANZ DCS. The redundant construction, the different operating modes and the control structure are studied in detail. The stator voltage and current feedback calculations based on Park's equations are discussed. The prototype system has been tested and the results are presented in the paper.
058 Robust and Adaptive Control Strategies T. Murarami, K. Ohnishl, pp 367-372 The paper describes a dynamics identification algorithm based on a disturbance observer in a multi-degree-offreedom manipulator. In the conventional approach, the disturbance observer is used to increase the robustness of the manipulator. In the paper, the disturbance observer is utilized to identify the dynamics of the manipulator. First, the structure of the disturbance observer is simply shown. Second, the parameter identification algorithm based on the disturbance observer is explained. Finally, the numerical and the experimental results confirm the validity of the proposed method.
055 A High-Performance Microprocessor-Controlled PWM Inverter for AC Motor Drives E. Faldella, F. Gigli, pp 349-354 The paper describes a digitally controlled voltage-source three-phase inverter for ac motor drive applications. High inverter performances, with regard to output spectral quality, power conversion efficiency and switching losses, are obtained throughout the overall operating range by dynamically exploiting different advanced pulse width modulations (PWM) techniques. A muhiprocessor architecture has been devised, which handles both the drive high-level control tasks and the on-line synthesis process of the inverter three-phase switching pattern without the need of specialized hardware. Extensive simulation studies as well as preliminary experimental tests have emphasized the validity and wide applicability of the fully digital solution conceived for drive control.
056 New Microprocessor System Eases Custom Controls Building-Up P.L.G. Malapelle, pp 355-359 The paper describes a new microprocessor-based system especially suited for low-cost or distributed industrial controls. It is based on a variety of single-board
059 Identification and Control of Electrical Drives I.D. Landau, F. Rolland, pp 373-376 The identification techniques and digital control design techniques used for electrical drives are reviewed. The methodology is illustrated by the plant identification and the design and implementation of a digital controller for a DC motor speed loop. Experimental results are given.
060 Improvement of Reference Tracking Capability of Digital Motion Control Systems H. Weingarten, pp 377-382 Good reference trajectory tracking is required in many applications. In this paper it is shown how to design the application of reference speed and velocity to a positioning system in order to introduce zeros into the transfer function. These zeros are of equal importance for system dynamics as the poles. System performance is shown for a deadbeat conlloller design and for pole placement and quadratic criteria minimisation for continuous and discrete design. Good reference tracking is necessary to specify controller power by the shape of reference trajectory.