共查询到20条相似文献,搜索用时 15 毫秒
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Hisashi Kataoka Toshimasa Miyazaki Kiyoshi Ohishi Seiichiro Katsura Somsawas Tungpataratanawong 《Electrical Engineering in Japan》2011,175(1):53-63
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 相似文献
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Current reduction method for dual active bridge converter in nonlinear dead‐time compensation method
Kengo Kawauchi Hayato Higa Hiroki Watanabe Keisuke Kusaka Jun‐Ichi Itoh 《Electrical Engineering in Japan》2021,214(1):42-51
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. 相似文献
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Masafumi Yamamoto Makoto Iwasaki Kazuaki Ito Nobuyuki Matsui 《Electrical Engineering in Japan》2010,171(2):31-39
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 相似文献
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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 相似文献
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《Electric Power Systems Research》2004,71(1):73-84
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. 相似文献
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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。 相似文献
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Y. S. Neo S. Alifah S. M. Idrus M. F. Rahmat N. M. Kassim 《International Journal of Numerical Modelling》2012,25(3):226-235
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. 相似文献
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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。 相似文献
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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 相似文献
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《Electric Power Systems Research》1995,32(2):89-99
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. 相似文献
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Alessandro De Luca Stefano Panzieri 《International Journal of Adaptive Control and Signal Processing》1993,7(5):417-433
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. 相似文献
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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. 相似文献
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A. Ghorbani S. Pourmohammad 《International Journal of Electrical Power & Energy Systems》2011,33(3):411-419
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. 相似文献
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带补偿分量的时变卡尔曼滤波的电压凹陷检测方法 总被引:1,自引:0,他引:1
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。 相似文献
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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。 相似文献
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AKIO USHIDA YUICHI TANJI YOSHIFUMI NISHIO 《International Journal of Circuit Theory and Applications》1997,25(2):95-105
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. 相似文献