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Volume 122, Issue 9
Displaying 1-10 of 10 articles from this issue
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Characteristics of General-Purpose Simulators and System Modeling MethodsAtsushi Okuno, Satoshi Ogasawara2002 Volume 122 Issue 9 Pages 893-898
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSThis paper introduces the general purpose computer simulation programs used for the design and analysis of power electronic systems, and their characteristics, such as calculation method, treatment of switching, etc., are organized into a table. Some simulation results of the benchmark test indicate the characteristics of individual simulators. Moreover, this paper comments on modeling method of power electronic systems. The simulation models classified into three levels are tested and evaluated from the point of view of simulation purpose and calculation time.View full abstractDownload PDF (643K) -
Hidehiko Sugimoto, Takeshi Ichikawa, Keisuke Hosoi, Shoji Kawasaki2002 Volume 122 Issue 9 Pages 899-909
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSOn startup of a brushless DC servomotor, it is necessary to detect of its magnetic pole position, to generate the torque effectively. Numerous brushless DC servomotors provide a high angle resolution encoder for the speed control and position control. It can use as a magnetic pole position detection, too. There are the absolute encoder and the incremental encoder. If a brushless DC servomotor provides an absolute encoder, the motor can startup, because it is necessary to detect of its absolute position for the magnetic pole position detection. However, it is not used except uses of demands for high accuracy because the encoder is expensive. The incremental encoder in general use cannot detect the magnetic pole position when the motor starts, and so it demands an exclusive magnetic pole position sensor till a standard signal output of the encoder.
This paper describes a method of the magnetic pole position detection of a brushless DC servomotor with an incremental encoder only use the encoder without an exclusive magnetic pole position sensor. The feature of this method is that can detect the magnetic pole position with very little revolutions in a matter of minutes during the motor starts.View full abstractDownload PDF (1572K) -
Shoichiro Fujisawa, Ryota Kurozumi, Ryo Onishi, Kazuo Kawada, Toru Yam ...2002 Volume 122 Issue 9 Pages 910-917
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSIn this study, we configured a path tracing control system that incorporated online learning using CMACs. The system has excellent performance for applying learning to general purposes, such as for omnidirectional mobile robots. Though CMAC has already been applied to process control and control of articulated robots, we adapted it for controlling mobile robots in this study. Generally speaking, traveling bodies must have high mobility in a narrow environment. An omnidirectional mobile robot with excellent traveling performance was used as the actual machine. The robot performed online learning using CMAC, a kind of neural network. In this paper, we propose an adaptive learning control system to implement path tracking control of mobile robots that travel with online input of the target value and that use the result of learning as the output value. A visual servoing system is used for this path tracking control system. We also report the results of various experiments on traveling by online learning. During the experiments on traveling, we were able to obtain excellent results from online learning and anticipate that teleoperation technology combining CMAC online leaning and a visual servoing system will be applied to care-taking devices and other systems.View full abstractDownload PDF (3408K) -
Yasutaka Fujimoto2002 Volume 122 Issue 9 Pages 918-927
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSA systematic design methodology for discrete control systems is proposed, which is based on Galois field and Gröbner basis. The controller can be automatically designed using a model of the controlled plant. The controlled plant is represented on Galois field. Then the inverse function of the plant is derived using Gröber basis so that the input variables are explicitly obtained as the function of the state variable and reference variable. An illustrative example of a material handling system is shown. The proposed method will realize cost reduction in software development and an improvement of reliability and safety of the PLC based systems.View full abstractDownload PDF (1747K) -
Takaharu Takeshita, Takeshi Kuroda, Yasunobu Toyoda, Nobuyuki Matsui2002 Volume 122 Issue 9 Pages 928-934
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSThis paper presents an electric power control scheme in the transmission line using a UPFC (Unified Power Flow Controller). From the practical application viewpoint, the simultaneous realization of the fast power response and the reduced power converter capacity are desired. The authors propose a new power control scheme of the UPFC with a current minor control loop. By using the proposed control, the fast power response can be realized and the necessary power converter capacity can be reduced considering the voltage saturation of the converter. The effectiveness of the proposed algorithm has been verified by experiments.View full abstractDownload PDF (1758K) -
Kiyoshi Ohishi, Hideo Nozawa, Toshimasa Miyazaki2002 Volume 122 Issue 9 Pages 935-941
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSSince each joint actuator of robot manipulator has a limit value of torque, the motion control system for robot manipulator should consider the joint torque saturation. If the motion control system does not consider the joint torque saturation, the robot manipulator sometimes becomes uncontrollable. This paper proposes a new motion control method of redundant manipulator considering kinetic energy and saturation of joint torque. The proposed motion control method has a robust speed controller based on H∞control in joint space and a fast position control system based on Zero-Phase Error Tracking control in Cartesian space. In order to consider the joint torque saturation, the proposed motion control system uses both the optimal pesudo inverse Jacobian matrix _??_ considering kinetic energy and the autonomous consideration algorithms of joint torque saturation. In the experimental results, on condition of having a large payload and a fast motion reference, the proposed motion control system well realizes the quick motion response robustly and smoothly, and its tracking response has little torque saturation effect.View full abstractDownload PDF (1685K) -
Seiichiro Katsura, Kouhei Ohnishi2002 Volume 122 Issue 9 Pages 942-947
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSBoth human and robot will carry out a task which is not realizable by only each of them. In particular, human recognizes environment and reflects to trajectory planning well. On the other hand, robot generates the controlled force more than human. In this paper, the best combination of human ability and robot capacity is considered. Commands of human by a joy stick are changed into the virtual force commands instead of position commands. Thereby, a soft robot is able to be realized. When it collides with an obstacle, it controls softly to external force in order to relax the shock. This is realizable by applying compliance control to the human input and external force. Reaction force estimation observer is implemented in robot to detect environmental disturbance. Environmental disturbance is classified into the mode of translational direction and rotational direction. By identifying environmental friction coefficient and changing gain of a joy stick, when a passenger and a road surface situation change, the desired operation characteristic is achieved. The proposed method is applied to wheelchair. As a result, operationality and ride quality are improved.
The experimental results show viability of the proposed method.View full abstractDownload PDF (2226K) -
Toshihiko Tanaka, Hiroaki Yamada, Shigeyuki Funabiki2002 Volume 122 Issue 9 Pages 948-949
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSThis paper proposes a novel method of suppressing the inrush current of transformers. A small-rated voltagesource PWM converter is connected in series to the transformers through a matching transformer. As the connected PWM converter performs a resistor for the source current, no inrush phenomena occurs. The basic principle of the proposed method is discussed. The validity and excellent practicability of the proposed method is confirmed by digital computer simulation using the PSCAD/EMTDC. Simulation results demonstrate that the proposed method can perfectly supprress the inrush phenomena.View full abstractDownload PDF (207K) -
Hirofumi Kiyotake, Hidehiko Okada, Kouichi Ishizaka, Ryozo Itoh2002 Volume 122 Issue 9 Pages 950-951
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSA novel switch-mode voltage-doubler rectifier derived from the half-bridge configuration using diodes is studied. This has an advantage that an only power switching device can provide the necessary control over the current. The arrangement tested, using an insulated-gate bipolar transistor and a controller for output voltage, is implemented to investigate the input current waveshaping. The experimental results confirm that the input current can be waveshaped sinusoidally with a near-unity power factor under the output voltage duplication.View full abstractDownload PDF (1113K) -
Atsushi Okuno, Yasuhiro Nakai, Masanori Tsuda, Mutsuo Nakaoka2002 Volume 122 Issue 9 Pages 952-953
Published: September 01, 2002
Released on J-STAGE: December 19, 2008
JOURNAL FREE ACCESSCold-Crucible Furnace (CCF) is based upon an induction-heated melting furnace, which consists of water-cooled copper segments with heating coil. Because of less contamination than the ceramic crucible, CCF is more utilized as melting furnace of high purity metal for target materials. On the other hand, for recycling of Titanium or for reducing the capacity of radioactive waste, a large scale CCF is required, which is driven by high-frequency inverter. A large scale CCF (600_??_) with bottom pouring processing structure is developed newly, and experimental work is successfully performed from a practical point of view.View full abstractDownload PDF (2027K)
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