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Akiko Takahashi,Ryuichi Oguro,Kenta Sakane 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper presents a torque and rotational speed estimation method for Line-start Induction Motor Operated Valves. Routine inspections are carried out to those valves, because Motor Operated Valves are used in the serious plant such as Power plant. And securing reliability is an extreme important matter for these systems. Movement environments in these plants are high temperature and humidity, so it is difficult to put sensors near motors. In such a case, we must find the trouble of the system without torque sensor or speed sensor. The proposal method can estimate the torque and rotational speed of induction motor by using time-series data of voltages and currents at the switchboard. Furthermore, we propose the parameter identification method of mutual inductance by comparing the inner and outer products between voltages and currents. First, a torque and rotational speed of induction motor are estimated. Next, a mutual inductance parameter is got. Last, the proposed estimation method is verified by results of experiment.
A Feedback Control for a Feel Regeneration System with Linear Slider
Yusuke Nakagawa,Ryuichi Oguro,Takashi Yoshimura 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, we present the feel regeneration system that uses a linear motor, and propose the feedback control system based on disturbance observer for generating the reaction force from object things. The proposed feel regeneration system consists of the linear slider and the sensing stage that is connected with the base by spring elements. In addition, we can get optical reactive force by controlling the stretch of the spring, which is a cause of producing the reactive force, and we recognize it as a feeling. In particular, the feel that the stage moves without adding the power, i.e., the regeneration of a feeling of the friction-less is the base technology of such a system, and we call this feeling the one like pushing air. The feedback controller realizes this friction-less feeling with the use of disturbance observer, which is proposed in order to estimate and cancel the friction force. The proposed control algorism and the system are experimentally verified by results of simulation.
Developing a New Carrier System with Throwing and Catching Robot
Yutaka Sameshima,Ryuichi Oguro 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Control of an object-throwing and catching robot is examined in this paper. We develop a new carrier system which uses two robots, thrower robot and catcher robot. In order to realize this system, we need to know problems which could happen in throwing and catching motion of these robots. Therefore, we have to produce a preliminary experiment system by a linear slider which has two sliders, thrower slider and catcher slider. In this experiment, the thrower slider throws a ball by inertial force, and the catcher slider moves automatically to point of fall of the ball with information about velocity of the thrower side. The experiment has following results. First, points of the thrown ball differ a little from each result in spite of the same condition. Second, we can find it is important to improve the accuracy of throwing a ball to a target position. In this paper, we show the structure of the prelimin ary system, and the verified problems about this system.
Haptic Force Simulation for Cardiac Muscle Palpation Training System
Yusuke Nakagawa,Ryuichi Oguro 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we present the mechanical palpation training system for cardiac muscle treatment, and propose the spring-system model based on the feedback control, which is for a regeneration of palpation feeling. Our approach is to directly touch the linear actuator, get optical reactive force with the control of spring stretch and recognize it as a feeling. In order to decide the target position of the spring stretch, we need to know the quantity of finger force, i.e., disturbance. By using disturbance observer, the force can be estimated. This proposed control method is experimentally verified by the simulation results.
A Method of Torque & Speed Estimation for Line-start IM with Electrical Parameter Identification
Akiko Takahashi,Ryuichi Oguro 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a method for estimating the torque and speed of line-start induction motor (IM). IM is being used for various purposes because that is a high trust machine for the load mechanism and can be used easily.So, IM is non-breakable. However, load mechanism sometime break. We try to check the condition of load mechanism by estimate the torque and speed of IM. We take up the motor-operated valve for load mechanism. Motor-operated valve is driven by line-start IM. Movement environment of IM is characterized by high temperature and humidity and therefore, it is difficult to position sensors near motor. In such a case, we must troubleshoot the system without using torque or speed sensors. The proposal method can estimate the torque and speed of IM by using the current and voltage nearthe switchboard. We use the inner and outer products between currents and voltages. Furthermore, we propose the parameter identification method of mutual inductance, leaked inductance and rotor resistance. The proposed method is validated by experimental results.
A Method of High Efficient Control for Induction Motor
Keisuke Iwasaki,Akiko Takahashi,Ryuichi Oguro 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes the controlling method for induction motor operating at high efficiency in transient state.We propose a method of current control to minimize stator current in case of giving torque we want. First of all, weunderstood problems of vector controlled for induction motor and suggest methods to solve these problems. In the simulation, the efficiency in the transient state is evaluated by comparing the copper loss between two methods.
Linfeng Lan,Kousuke Okabe,Ryuichi Oguro,Hideki Honda 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
In this paper, a new decoupling control scheme of 2-link industrial manipulator with application of the model following control has been proposed. Compensation torque used for removing interference force between two arms of the manipulator has been designed in feed-forward control loop. Compared with the conventional scheme, the proposed scheme is more simple and realistic to be taken in to practice for general purpose controllers. And, a new design consideration for control gains has also been shown. Moreover, disturbance observer is applied to cope with model error problem in feed-back control loop. Effectiveness of the proposed decoupling control scheme has been confirmed through simulation results.