IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Volume 116 , Issue 1
Showing 1-20 articles out of 20 articles from the selected issue
  • Tsuneji Yada
    1996 Volume 116 Issue 1 Pages 1
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
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  • Tsuneji Yada
    1996 Volume 116 Issue 1 Pages 2-4
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
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  • Takeo Yoshioka
    1996 Volume 116 Issue 1 Pages 5-7
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
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  • Masanori Suzuki
    1996 Volume 116 Issue 1 Pages 8-10
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
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  • Shigeyasu Kawaji, Ken'ichi Ogasawara, Junji Iimori
    1996 Volume 116 Issue 1 Pages 11-18
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    Realization of stable walking motion of biped locomotive robot is one of difficult control problems, but it is very interesting both theoretically and practically from the view point of motion control. The authors have already reported that the locomotion rhythm plays an important role in walking motions, and confirmed experimentally that the control method based on the locomotion rhythm is effective. But, many uncertainties, e. g., the changes of robot dynamics and the interaction between the robot and the floor, may make the locomotion rhythm irregular.
    In this paper, we introduce the compliance into the control system in order to modify the original reference locomotion rhythm for stable walking under the existence of the uncertainties. Concretely a compliance control system for the contact leg is designed to modify the rhythm by changing the posture of the leg corresponding to the force acting from the body so that the robot may keep the equilibrium state dynamically. Finally the simulation results are given to illustrate the effectiveness of the proposed compliance control system.
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  • Yoshiharu Harada, Hiroshi Murata, Setuo Sagara
    1996 Volume 116 Issue 1 Pages 19-25
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    In this paper we propose a design method of an optimal deadbeat control system in consideration of the response between the sampling instant.
    The sequence of the deadbeat control signal which minimizes the quadratic performance index for the manipulated variable and deviation can be easily obtained from the matrix computation by the step response of the system. Then, the series compensation controller and series integral+local feedback compensation controller with fictitious sampler can be designed by using sequence of the control signal.
    We also studied the result of a computer simulation by the present method and apply the method to a speed control system of the inverter-fed induction motor to show the control effect, and it seems to be useful for the practical application.
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  • Katsumi Yamazaki, Tadao Sogawa
    1996 Volume 116 Issue 1 Pages 26-34
    Published: December 20, 1995
    Released: December 19, 2008
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    Owing to the regulation of Freon gas in environmental problem, ammonia is recently revalued as refrigerant of compressors. A canned motor was developed as a reliable driver of a hermetic-type ammonia compressor. The canned motor has a thin, metallic can inserted in the airgap of a squirrel-cage induction motor to prevent ammonia from entering the stator and damaging the primary windings.
    As the can is conductive, eddy current and electromagnetic force are generated in it. To know these phenomena correctly, the finite element analysis is necessary because the equivalent circuit approach is inadequate. As end positions of the can have strong effect on eddy current in the can, a 3D analysis is needed to calculate electric field accurately. Furthermore, a nonlinear analysis with fine mesh in the airgap is required to calculate electromagnetic force distribution. In this case, large amount of computer memory and calculation time will be needed if a full 3D analysis is carried out.
    In this paper, we present a nonlinear 2D analysis combined with 3D analysis which can calculate both eddy current and electromagnetic force distributions accurately with small computer resources.
    The analytical results show the good agreement with experimental data. Moreover, we obtain new information which is instructive for the design of canned motors.
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  • Takeshi Mizuno, Hannes BLEULER, Hiroaki Tanaka, Hideki Hashimoto, Fumi ...
    1996 Volume 116 Issue 1 Pages 35-41
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    Nowadays, Active Magnetic Bearings (AMBs) are applied to Turbo Molecular Pumps (TMPs) and milling spindles. However, because AMBs require electromagnets and gap sensors, they cost more and need larger equipment than conventional mechanical bearings. Therefore their application is limited. Position Sensorless active Magnetic Bearings (SMBs) are one method to solve such problems and have possibility of higher critical speed because of a shorter rotor. SMBs have already been realized in experimental equipments. Here position sensorless bearings are applied to a TMP and high-speed rotation is realized.
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  • Bin Kaku, Ichirou Miyashita, Satoru Sone
    1996 Volume 116 Issue 1 Pages 42-49
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    Neutral point potential variation is an inherent problem of three-level inverter. When the output point of inverter is connected to the DC input neutral point, there is a neutral point current flowing into or out of the neutral point, so the neutral point potential is varied. The variation will produce a bad influence on the inverter output, and the excessive variation will cause an over-voltage applied to the switching devices and the devices will be destroyed. Therefore, the variation should be suppressed.
    In this paper, authors have proposed a new kind of PWM method for three-level inverter based on the voltage space vector with the ability to suppress the neutral point potential variation. By this new method, two kinds of vector output patterns are defined for each sector of vector space. The vector output intervals are calculated firstly to meet the needs of generating the command vector. And then, the calculated vector output intervals are readjusted again to meet the needs of suppressing the neutral point potential variation. The main idea of this method is presented here and the variation suppressible conditions are analyzed. At the end of this paper, it has been confirmed by comparative experiments that the proposed method is an effective and practical one, and it is not necessary to add any extra-equipment for suppressing the variation. Moreover, there is no additional bad influence on the output current waveforms.
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  • Yoshikazu Minamoto, Tokuo Ohnishi
    1996 Volume 116 Issue 1 Pages 50-55
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    In this paper, we propose a novel three phase thyristor PWM converter using a GTO for the commutation of the three phase thyristor converter. The main thyristor can be commutated simultaneously by turning off the GTO of the commutation circuit without consuming the energy in the snubber circuit. The proposed commutation circuit is very simple. It can be constructed by using a GTO and axial circuit components (two diodes, a reactor and a capacitor). When the GTO turns off, the capacitor operates as the snubber circuit for the GTO device so that soft-switching action can be obtained. The commutation energy can be transferred through the capacitor to the dc load without consuming the energy in the snubber circuit. Moreover, the additional voltage drop in the series diodes can be removed. So, the efficiency will be improved.
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  • Nobuyuki Kasa, Tomoyuki Karino, Hiroshi Watanabe
    1996 Volume 116 Issue 1 Pages 56-64
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    Many sensorless vector control systems have been proposed to increase the reliability and to reduce costs of the systems. However the parameters of an induction machine are changed by the temperature, the estimated speed may be incorrect value. When a constant torque drive system is constructed by a sensorless system and a current source inverter (CSI), the accuracy of the estimated speed influenced directly the response of the torque.
    In this paper, a direct field oriented control system is constructed by the flux observer which is low sensitivity to the rotor resistance variation and a proposed speed estimation scheme in a torque control system driven by a CSI. We compared experimental results by a voltage source inverter system and by the CSI system which is adopted our sensorless vector control scheme. At a lower speed condition, the system identifies the stator resistance, and we can estimate rotor speed correctly. Then the CSI system drives stably the induction machine without the speed sensor in a lower speed condition, and it can be applied to the constant torque drive systems.
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  • Shigeo Morimoto, Yoji Takeda
    1996 Volume 116 Issue 1 Pages 65-70
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    In the industrial motor drive systems such as industrial plants and industrial robots, a torsional vibration is often generated because of the elastic elements in torque transmission. This vibration makes it difficult to achieve quick responses of speed and may result in damage to the plant. Such system is simply modelled as a two-mass mechanical system.
    In this paper, H control theory is applied to design the speed controller for the two-mass system. This controller determines the closed-loop characteristics such as suppression of torsional vibration, rejection of torque disturbance and robust stability. Moreover, two types of two-degrees-of-freedom control system, which includes the H controller, are proposed in order to improve the command response. One is based on the TDOF PI control, in which the PI controller included in the H controller is rearranged to the TDOF system. Another is based on the model matching feedforward control, in which the pre-filter and the feedforward compensator are added to the H controller. The proposed control system is applied to two types of resonant mechanical system with different inertia ratio. From several examinations, it is clarified that the proposed speed control system is useful for the resonant mechanical system.
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  • Mitsuo Hirata, K. Z. Liu, Tsutomu Mita
    1996 Volume 116 Issue 1 Pages 71-78
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    Two-degree-of-freedom (TDOF) system has a characteristic that the feedback property such as disturbance attenuation and the reference response property can be designed separately. But in general the order of TDOF controllers tend to be higher compared with that of one-degree-of-freedom (ODOF) controllers. For this reason, a new design method of the TDOF system using the dynamical model of the feedback controller was proposed by Y. Chida. In this method, the reference response achieved by the feedback controller can be improved by the TDOF controller whose order is same as that of the feedback controller. The TDOF controller is designed as such that minimizes a square integral performance index. But the choice of the weighting parameter of the performance index is difficult and some try-and-error is needed to get a good performance.
    In this paper, we propose an alternative design method for the TDOF controller proposed by Y. Chida. We introduce a model transfer function and the controller is designed so that the output of the two-degree-of-freedom system follows the output of the model transfer function. Designers need only to choose the model transfer function which has desired time response.
    Further, we apply this method to the 2-mass control system to improve the reference response. Simulation results are presented to demonstrate the control effects.
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  • Teruomi Katori, Takashi Izumi, Yutaka Takahashi
    1996 Volume 116 Issue 1 Pages 79-87
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    The route guide sign system is one of the route induction system in the road traffic. However, there are cases that some addresses are unfit in the network, on regard to addresses among the route guide sign boards. Sometimes, this system is not kind for drivers. We study for the optimization of the above route guide sign system.
    One of evaluation methods of route guide sign system is the method using drive simulator. An overall evaluation can be done by using the drive simulator, but each driver's subjectivity are included in the evaluation results.
    In this paper, we propose the new method of objective evaluation using conditions of appropriate induction addresses for optimization route guide sign system. There are three conditions, induction considering each lines, induction considering direction at crossing point, and continuation of induction addresses on route guide sign board. And we suggest the method to improve these system using the result of its evaluation.
    Finally, we show an example of above evaluation method and improvement to the route guide sign system at the Northwest CHIBA area.
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  • Takashi Onuki, Yushi Kamiya, Jun Enomoto, Takayuki Kashiwagi, Takeshi ...
    1996 Volume 116 Issue 1 Pages 88-93
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    Differently from the general linear synchronous motor (LSM), the permanent magnet type linear synchronous motor (PM-LSM) hardly has field windings. Thus, the reduction of hunting oscillations much depends on damper windings. In this paper, we propose novel constructions of PM-LSM that is obtained by dividing magnets and arranging them suitably. With this method, it is possible not only to provide spaces for damper windings but also to eliminate space harmonics of magnetic fields.
    In this paper, we research into secondary constructions by theoretical analyses and the three-dimensional finite element analysis. To conform the validity of analyses, we also compare it with experimental data. The follows are confirmed. (1) We derive arrangements of magnets that eliminate four kinds of harmonics (5, 7, 11, 13), and we propose a novel arrangement that has advantages from the productive point of view using same width of magnets. (2) Concerning with preferable arrangements of damper windings, distributed windings are more effective in stabilizing operations than concentrated windings, and those arranged at the same intervals are more effective than arranged unequally. We also confirmed the improvement of characteristics with solid plates under magnet parts.
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  • Hitoshi Yamaguchi, Toshiharu Watanabe, Hajime Yamada
    1996 Volume 116 Issue 1 Pages 94-99
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
    Force between an electromagnet and an iron piece is usually calculated with a equation of Maxwell's stress, and for the exact result, the integration of stress is made along a route away from the iron. It, however, is necessary to calculate magnetic flux density components paralell to the integration route as well as perpendicular ones.
    The authors propose a new method of calculation using FEM. This method presents that the integration of Maxwell's stress is made on the surface of an iron piece, and magnetic flux is regarded perpendicular to the iron surface. Calculated values of magnetic force, attractive force and restoring force under small parallel displacement to pole face, have been compared with measured ones on an experimental model. The following results are obtained. (1) The magnetic force is calculated using the results of FEM analyses where the number of nodes has been less than 1000. The differences between the calculated and the measured values are smaller than 5%. (2) To obtain the above results, it is necessary that relative permeability of the iron piece is larger than 100 and the side length of each triangle element near the iron corner is less than 2% of the gap length.
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  • Takashi Nakagawa, Hisaichi Irie, Hideyuki Okui
    1996 Volume 116 Issue 1 Pages 100-101
    Published: December 20, 1995
    Released: December 19, 2008
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  • Ken-ichi Murayama, Yukio Kagawa
    1996 Volume 116 Issue 1 Pages 102-103
    Published: December 20, 1995
    Released: December 19, 2008
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  • Tsuyoshi Hanamoto, Yoshiaki Tanaka, Takuro Mochizuki
    1996 Volume 116 Issue 1 Pages 104-105
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
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  • Takaharu Takeshita, Koji Toyama, Nobuyuki Matsui
    1996 Volume 116 Issue 1 Pages 106-107
    Published: December 20, 1995
    Released: December 19, 2008
    JOURNALS FREE ACCESS
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