IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Volume 135 , Issue 8
Showing 1-22 articles out of 22 articles from the selected issue
Paper
  • Yasunori Sugawara, Akira Shimada
    2015 Volume 135 Issue 8 Pages 827-835
    Published: August 01, 2015
    Released: August 01, 2015
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    This paper introduces an attitude control technique for a quadrotor aircraft. Considering that the non-linear characteristics of the aircraft makes it difficult to stabilize, a quadrotor controlled with an adaptive algorithm. Accordingly, we proposed a quadrotor application with backstepping based on the Lyapunov function. Furthermore, we designed a separate actuator control to be mounted on the aircraft for the control of the quadrotor. This approach is often used in industrial equipments. In particular, the limited pole placement (LPP) method is applied to design the controller considering the characteristics of the actuator. The representative simulation results are presented and discussed.
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  • Yuya Ishizuka, Koichi Hidaka
    2015 Volume 135 Issue 8 Pages 836-846
    Published: August 01, 2015
    Released: August 01, 2015
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    This paper presents a study of lineless control for an automated guided vehicle (AGV) by using a stereo camera and markers. This control is called visual servoing, and studies of vehicle robots using visual servoing are proposed nowadays. The usual visual servoing controls assume that the target can be observed clearly or the target cannot be instantaneously observed. When the AGV works in a factory, robustness to changes in brightness is important. On the other hand, moving control without the line on the floor is also required for an industrial transportation robot. With this background, we propose an AGV transport system without the line on the floor. The proposed guidance method has two modes, i.e., marker and nonmarker modes. The visual servo control of an AGV in the marker mode uses image-based control, and the visual servo control in the nonmarker mode uses position-based control. This algorithm uses three markers. The AGV moves from the start to the first marker and from the third marker to the goal controls in the marker mode. From the first marker to the second marker, the AGV must pass between cars. The AGV between these markers is controlled by image and position-based control. The usefulness of the proposed control system is demonstrated by experimental results under brightness disturbances.
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  • Toshiyuki Hiramatsu, Xiaoliang Huang, Masaki Kato, Takehiro Imura, Yoi ...
    2015 Volume 135 Issue 8 Pages 847-854
    Published: August 01, 2015
    Released: August 01, 2015
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    Wireless power transfer via magnetic resonant coupling is becoming ideal for applications in electric vehicles (EV) because it is considered a potential solution. The transmission efficiency and charging power, decided by the load impedance and mutual inductance, are very important for achieving a high efficiency in the charging system of EVs. However, in order to achieve a simple transmitter, communication between the transmitter and receiver sides is not desired. In this study, a simultaneous control method without communication is proposed to control the transmission efficiency on the transmitter side and the charging power on the receiver side. It is shown that the transmission efficiency can be changed by manipulating the transmitter-side voltage while the transmitted power is controlled by the receiver side. A method for estimating the desired power by the transmitter side is also proposed in order to achieve the optimal transmitter-side voltage without communication. The effectiveness of the proposed method using the calculated optimal transmitter-side voltage and the method for estimating the charging power is shown through experiments.
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  • Shogo Makino, Toru Shikayama, Motomichi Ohto, Tsuyoshi Higuchi, Takash ...
    2015 Volume 135 Issue 8 Pages 855-861
    Published: August 01, 2015
    Released: August 01, 2015
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    A Magnagap linear motor (MLM) is a type of inductor linear motor in which a permanent magnet is not mounted on the stator. As a result, for applications with a long stroke requirement, a MLM is magnet-saving compared with an iron-core linear motor, which is a type of permanent-magnet linear synchronous motor (PM-LSM). However, in the past, for the same power supply voltage, a high-speed drive was difficult to realize for a MLM compared to a PM-LSM.  This paper discusses the development of a MLM for a high-speed drive. We clarified the advantage of the electromagnetic gear reduction ratio from the thrust principle and examined the most suitable combination of a coil, a permanent magnet, and inductor teeth that could realize both a high-speed drive and high thrust. A Halbach magnet array and grain-oriented steel are applied for high thrust, and a sub-magnet in the mover is applied to reduce the cogging force. Using a prototype, we verified the high-thrust high-speed drive, the reduction in the cogging force, and the amount of permanent magnet used.
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  • Takafumi Hara, Shigehisa Aoyagi, Toshiyuki Ajima, Yoshitaka Iwaji, Rik ...
    2015 Volume 135 Issue 8 Pages 862-868
    Published: August 01, 2015
    Released: August 01, 2015
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    A permanent-magnet synchronous motor (PMSM) with a concentrated winding generates vibration and noise resulting from the 2nd radial electromagnetic force. In preceding research, it has been shown that the d-axis negative current reduces the 2nd radial electromagnetic force. In contrast, a relationship between this force and the current has not been clarified. In this paper, it is demonstrated that this force is separated into three forces caused by the d-axis current, the q-axis current and the flux of the magnet. An equation correlating this force and the current is developed by using a finite element analysis. On the basis of this equation, vibration control is proposed to reduce this force. In addition, this proposed method is verified by experiment.
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  • Masahiro Aoyama, Toshihiko Noguchi
    2015 Volume 135 Issue 8 Pages 869-881
    Published: August 01, 2015
    Released: August 01, 2015
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    This paper describes a synchronous motor in which space harmonic power is utilized for the field magnetization instead of permanent magnets. The stator has a concentrated winding structure, and the rotor has two different types of windings, i.e., an induction pole (I-pole) winding that primarily retrieves the second space harmonic and an excitation pole (E-pole) winding for the field magnetization. The two coils are connected via a center-tapped full-bridge diode-rectifying circuit. The adjustable-speed drive characteristics and efficiency map are experimentally verified with a prototype motor. In addition, it is experimentally clarified that the field magnet function of the self-excited electromagnet pole has passive variableness with respect to the armature current, the rotation speed, the phase angle, and the time harmonics superimposed on the phase current. Furthermore, the drive performance of the proposed motor is studied by comparing the torque and efficiency characteristics.
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