Tracking control for industrial robot using notch filtering system with little phase error

This paper proposes a new method for generation of a position reference that has both vibration suppression performance and fast tracking performance for industrial robots. It is important for industrial robots to drive at high speed and with high accuracy. In such cases, vibration is generated. Conventionally, the notch filter is used in order to reduce vibration. It is able to eliminate the natural frequency component, but a reference phase error is generated. The reference phase error causes locus error in the robot. Therefore, the accuracy of the robot is degraded by using a notch filter. The proposed method overcomes this problem by using the compensation gain. The proposed compensation gain is used in order to calculate the reference phase error. Compensation of the reference phase error is attained by feedforward input. Numerical and the experimental results confirm that the proposed method is valid for reducing vibration phenomena and that it decreases the phase error. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 175(1): 53–63, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.20931     

Current reduction method for dual active bridge converter in nonlinear dead‐time compensation method

This paper proposes a control method for a dual active bridge (DAB) converter, which achieves both a reduction in the nonlinear transmission power error due to the dead‐time and a reduction in the inductor current with a three‐level operation. The nonlinear transmission power error is compensated by designing a zero current period in the inductor current with the three‐level operation. In addition, an inductor current reduction method for the three‐level operation is also proposed. In the nonlinear transmission power error compensation method, the inductor current is reduced by suppressing the circulating current by considering the zero‐current period to be the dead‐time. The validity of the proposed method is confirmed using a 2.0‐kW prototype. The experimental results show that the transmission power error is reduced by up to 85.1%. In addition, the inductor current is reduced by up to 64.1% and the loss is reduced by up to 58.6%. Moreover, the DC offset is eliminated by utilizing the voltage polarity reverse phenomenon in the voltage control.     

Precise disturbance modeling for improvement of positioning performance

This paper presents a modeling methodology for unknown disturbances in mechatronics systems, based on disturbance estimation using an iterative learning process. In disturbance modeling, nonlinear frictions are specially handled as disturbances in the mechanisms, which mainly degrade trajectory control performance. Friction can be mathematically modeled by using learned estimation data as a function of the displacement, velocity. acceleration, and jerk of the actuator. This model has the distinctive feature that friction compensation can be achieved with a generalization capability for different conditions. The proposed positioning control approach with disturbance modeling and compensation has been verified by experiments using a table drive system on a machine stand. © 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 171(2): 31–39, 2010; Published online in Wiley InterScience ( www. interscience.wiley.com ). DOI 10.1002/eej.20928     

GMDH‐based autonomous modeling and compensation for nonlinear friction in a table drive system

This paper presents a novel mathematical model‐based compensation algorithm for the nonlinear friction in table drive systems using Group Method of Data Handling (GMDH). In the proposed compensation, the nonlinear friction can be autonomously modeled as a polynomial expression of appropriate control state variables according to the process of GMDH and, as a result, the complicated structural modeling and its parameterization, indispensable in conventional model‐based strategies, can be completely eliminated. In addition, since the proposed GMDH‐based model can easily achieve the generalization ability for table drive condition, the robust compensation for friction can be attained against the change of drive conditions. The proposed algorithm has been verified by experiments using a table drive system of actual machine tools and proved the significant performance improvement in the trajectory control with velocity reversal motion. © 2001 Scripta Technica, Electr Eng Jpn, 136(3): 58–66, 2001     

稳定平台非线性误差伪微分负反馈控制

为了进一步提高稳定平台的抗干扰能力,提出了一种基于非线性误差伪微分负反馈NLE PDFF控制新方法.首先,建立了稳定平台的数学模型;然后,设计了非线性误差反馈环节和伪微分负反馈控制器;最后,对首次提出的NLE_PDFF控制器在飞行器模拟转台上以5 Hz以内频率扰动作用,测试其抗扰动的性能.实验结果表明,对比传统的平方PI控制器,采用NLE_PDFF控制器,系统的扰动隔离度提高34％.该控制器成功应用于某型稳定平台中,经充分考核,验证了其有效性.     

峰值电流控制DC-DC Boost变换器优化斜坡补偿

非线性现象在DC-DC开关变换器中普遍存在,具体表现为次谐波振荡和混沌等不稳定现象。针对此,研究了峰值电流控制下的DC-DC Boost变换器,通过采取固定斜坡补偿可消除其电路中的非线性现象,但降低了参考电流和输入功率。为解决上述问题,提出了一种优化的斜坡补偿方案来解决固定斜坡补偿带来的参考电流和输入功率降低的问题,同时推导出其参考电流和电感电流平均值的表达式,通过仿真和实验验证了理论分析的正确性及所提优化补偿策略的有效性。     

Artificial neural network-based prediction technique for transformer oil breakdown voltage

This paper presents an artificial neural network (ANN)-based modeling technique for prediction of transformer oil breakdown voltage. This model comprises transformer oil service period, total acidity and water content while preserving the nonlinear relationship between their combinations for predicting transformer oil breakdown voltage. The model results are compared with those obtained by various modeling techniques such as ANN-based model for transformer oil breakdown voltage as a function of its service period, a polynomial regression model for transformer oil breakdown voltage as a function of its service period and a multiple linear regression model for transformer oil breakdown voltage as a function of its total acidity, water content and service period. A quantitative analysis of various modeling techniques has been carried out using different evaluation indices; namely, mean absolute percentage error and actual percentage error at each service period. The results showed the effectiveness and capability of the proposed ANN-based modeling technique to predict transformer oil breakdown voltage and justified its accuracy.     

检测电感电流预测电感电压的非线性处理方法

电力电子系统单一传感器测量技术是提高变换器集成度的一种全新技术，它通过单一传感器检测电感电流，能够有效地对变换器其他变量和参数进行辩识。该文在考虑电感非线性磁饱和现象条件下，提出一种电感电压的非线性预测方法，并据此设计了一种非线性补偿预测方案。该非线性补偿预测方案克服了由于电感饱和而带来的计算误差，能够提供更准确的预测结果，从而解决了由于电感的饱和非线性特性而带来的困难，并使单一传感器测量技术在电力电子系统的变量控制和参数监测等方面具有更大的实用范围。     

Numerical analysis of laser transmitter nonlinearity compensation technique for radio over fiber system

The task of reducing the noise and distortion generated by a laser transmitter has always been a challenge to improve the performance of radio over fiber systems. This paper presents a compensation system for nonlinear distortion of a laser transmitter supporting 5.2 GHz radio transmission over fiber employing a feed‐forward linearization technique. The nonlinearity of the laser diode is modeled using Volterra series analysis. The proposed linearization system is also simulated using commercial optical system software. The novel design has achieved 30 dB nonlinearity reduction considering 800 MHz modulation bandwidth. As an addition, this work also analyzes the effect of transmission length towards distortion reduction of the proposed system. Copyright © 2011 John Wiley & Sons, Ltd.     

基于非线性拟合单位电流最优输出功率的永磁同步电机位置估计误差补偿策略

针对永磁同步电机(permanent magnet synchronous motor, PMSM)参数变化影响转子位置估计精度问题,提出了一种基于单位电流最优功率输出的位置估计误差非线性补偿策略。首先,分析了电机参数误差特别是电感误差对位置估计精度的影响,建立了位置估计误差与单位电流输出功率的关联模型,推导出电感误差与最优输出功率的关系模型。然后,结合功率模型构建了基于多项式的电感误差非线性模型,利用少量测试点拟合该多项式模型,即可辨识电感误差用于准确补偿位置估计误差。所提方法实现简单,不依赖电机参数,能有效克服噪声干扰。最后,仿真与实验结果验证了提出补偿策略的有效性。     

Hysteresis and eddy currents compensation in current transformers

In the paper a digital technique for improving the accuracy of instrument current transformers is presented. Since the exciting current can be considered as the main error source, its evaluation can allow the compensation of its detrimental effects to be obtained. The exciting current required by the transformer in every kind of steady state operation can be determined by simply acquiring the secondary current, provided that the examined CT has been preliminarily identified. A simple scalar model for the CTs magnetic core, taking into account saturation as well as hysteresis and eddy currents phenomena, has been implemented in a software compensation routine. This allows us to improve the accuracy in the reproduction of the primary current, in the case of both sinusoidal and distorted current waveforms (provided that DC components are not present). Many experimental tests, under different practical situations, have been performed. The results clearly show that the proposed technique is able to significantly reduce, in comparison with traditional methods, the errors introduced by current transformers     

Harmonic compensation of induction watthour meter performance

This paper analyzes the variation of the registration error of an induction watthour meter (IWHM) with respect to those parameters concerning the harmonic characteristics of the load and harmonic performance of the IWHM. Based on an analysis of the results of error variation, two types of compensation methods, namely, meter external methods and meter internal methods, are proposed to improve the accuracy of the IWHM when operated in harmonic situations. The meter external methods are related to the harmonic characteristics of the load, while the meter internal methods are associated with the harmonic performance of the IWHM. Each compensation method is comprised of several measures. This paper presents these measures for each compensation method, and gives detailed illustrations of the practical aspects for each measure. The feasibility of each compensation method is assessed, and some useful suggestions for utilities, users and manufacturers of IWHMs are offered. The study results show that the registration error due to constant single power harmonic interference can be fully compensated. When multiple power harmonics exist, however, the compensation, in general, can only focus on the main harmonic component to reduce the registration error to as low as possible. The effectiveness of those compensation methods which are feasible has been confirmed by the experimental results.     

A Neural-Network-Based Method of Modeling Electric Arc Furnace Load for Power Engineering Study

It is known that artificial neural network is a powerful scheme for function learning and modeling nonlinear loads. However, a direct application of artificial neural network for modeling time-varying loads may lead to inaccuracies. This paper presents an accurate neural-network-based method for modeling the highly nonlinear voltage-current characteristic of an ac electric arc furnace (EAF). The neural-network-based model can be effectively used to assess waveform distortions, voltage fluctuations, and performances of reactive power compensation devices associated with the EAF in a power system. Simulation results obtained by using the proposed model are compared with the actual measured data and two other traditional neural network models. It is shown that the proposed method yields favorable performance and can be applied for modeling similar types of nonlinear loads for power engineering studies.      

Learning gravity compensation in robots: Rigid arms,elastic joints,flexible links

The setpoint regulation problem for robotic manipulators is a basic task that can be solved either by PID control or by model-based gravity compensation. These approaches are commonly applied both to rigid arms and to robots with flexible links and/or elastic joints. However, PID control requires fine and lengthy tuning of gains in order to achieve good performance over the whole workspace. Moreover, no global convergence proof has yet been given for this control law in the case of flexible links or elastic joints. On the other hand, a constant or even a configuration-dependent gravity compensation is only an approximate solution when an unknown payload is present or when model parameters are poorly estimated. In this paper a simple iterative scheme is proposed for generating exact gravity compensation at the desired setpoint without the knowledge of dynamic model terms. The resulting control law is shown to be global asymptotically stable for rigid arms as well as for manipulators with elastic joints or flexible links. Starting with a PD action on the error at the joint (i.e. motor) level, an additional feedforward term is built and updated at discrete instants. Convergence of the scheme is proved under a mild condition on the proportional gain, related to a bound on the gravity terms. In the presence of concentrated or distributed flexibility a structural property of the joint or of the link stiffness is further required, largely satisfied in practice. Simulation results are given for a three-link rigid arm and experimental results are also presented for a two-link robot with a flexible forearm.     

基于模糊控制补偿的支持向量机逆模型控制

支持向量机(SVM)具有很强的非线性逼近能力与泛化能力,文章研究了基于SVM的非线性系统逆模型辨识,并设计了基于模糊控制补偿的SVM逆控制系统.由SVM辨识的逆模型作为前馈控制器,形成直接逆模型控制器.同时,设计模糊控制器构成反馈补偿控制,克服逆模型的建模误差,提高系统鲁棒稳定性.仿真研究表明,SVM具有优良的逆模型辨识能力,基于模糊控制补偿的支持向量机逆控制系统的动态性能好、跟踪精度高、鲁棒稳定性强.     

A novel excitation controller to damp subsynchronous oscillations

A novel supplementary subsynchronous damping controller (SSDC) is proposed for the generator excitation system which is capable of damping out subsynchronous oscillations in power systems with series compensated transmission lines. It is shown that the controller is able to stabilize all unstable modes for all compensation ratios. Eigenvalue analysis and transient simulations of detailed nonlinear system are considered to investigate the performance of the controller. Robustness of the controller has been analyzed by facing the system with disturbances leading to significant changes in generator operating point. The IEEE Second Benchmark Model is considered as the system under study. All the simulations are carried out in MATLAB/SIMULINK environment.     

带补偿分量的时变卡尔曼滤波的电压凹陷检测方法

针对电压凹陷的实时检测问题,提出了带补偿分量的时变卡尔曼滤波。将电压凹陷信号分解为稳态分量与补偿分量,建立带补偿分量的卡尔曼滤波模型;电压稳态期退出补偿分量,电压凹陷期投入补偿分量,检测的补偿分量直接作为动态电压恢复器(dynamic voltage restorer,DVR)的指令值。结合ab/dq变换给出电压凹陷有效值和相位跳变。应用滤波残差法检测电压突变,并提出锁定延迟法克服补偿分量频繁投入与退出。仿真结果表明,该方法比普通卡尔曼滤波、虚拟三相dq变换方法具有更快的响应速度,满足DVR的实时性要求。     

同塔双回线纵向故障特征分析及零序方向保护改进

同塔双回线在发生不对称纵向故障时,由于负荷电流的转移,健全线路上会流过较大的不平衡电流,可能导致健全线路上带零序电压补偿的纵联零序方向元件误动。分析了同塔双回线纵向故障时零序、负序分量的特征,阐释了单相故障跳闸后健全线路上带零序电压补偿的零序方向保护误动的机理,并且提出了利用单回线负序分量信息的保护改进方法。在零序电流达到门槛值而零序电压不足时,引入负序电流门槛来判断是否启动零序电压补偿,并结合带负序电压补偿的负序方向元件来判断故障方向。仿真结果表明,所提方法在相邻线路发生不对称纵向故障时能有效闭锁本线路的方向保护,防止保护误动作;在本线路靠近对侧发生接地故障,本侧零序电压较低的情况下改进的零序方向保护有较高的灵敏度,能够可靠动作。     

基于微分同胚映射和扩张状态观测器的高压直流非线性控制器的设计

为提高高压直流输电系统的抗干扰能力以及模型辨识的准确性,提出了一种基于微分同胚映射和扩张状态观测器的高压直流非线性控制器设计方法。首先利用微分同胚映射将高压直流输电系统模型中的非线性因素作为系统的控制输入,利用线性最优反馈和非线性误差反馈率确定最优预控变量;然后运用扩张状态观测器来辨识所有不确定因素,从而实现非线性控制...     

Analysis of non-linear transmission lines by frequency domain perturbation method

We discuss a numerical method for solving non-linear transmission lines in the frequency domain. Such transmission lines are widely used for communications such as in GaAs integrated circuits and varactor diode circuits. The circuit equations are described by non-linear partial differential equations, so their analysis is very complicated compared with that of linear transmission lines. In this paper we propose a frequency-domain perturbation method for weakly non-linear transmission lines where the wave-forms are approximated by Fourier expansions and each frequency component is calculated by a modified perturbation method. To improve convergence, we introduce two new techniques, the compensation method and the homotopy method, which help to make the iteration stable and can be applied to a wide class of non-linear transmission lines. We have analysed shock wave phenomena in example. © 1997 by John Wiley & Sons, Ltd.