توجه: محتویات این صفحه به صورت خودکار پردازش شده و مقاله‌های نویسندگانی با تشابه اسمی، همگی در بخش یکسان نمایش داده می‌شوند.
۱A New Variable Structure Control Methodology for Electrical\ Mechanical Parameter Estimation of Induction Motor
نویسنده(ها): ، ، ،
اطلاعات انتشار: هفدهمین کنفرانس بین المللی برق، سال
تعداد صفحات: ۱۱
Induction motor parameter estimation is generally needed for such purposes as fault detection and the achievement of high dynamic performance drives. This paper is an attempt to use variable structure control (VSC) methodology for the on–line estimation of several significant mechanical
and electrical induction motor parameters. The estimated parameters are rotor resistance, magnetizing inductance, stator resistance and viscous damping coefficient. In this combined control\estimation method, we propose to apply field–oriented control to the non–linear model of induction motor, and then transform the model by Input–state linearization into canonical form. Application of variable structure method would then yield desirable parameters whose Lower and upper bounds being known. Stability of the closed loop system is studied, and it is shown that the identification algorithm is convergent and the closed loop system is robust to system uncertainties given the switching gain is chosen sufficiently large. Simulation results show that when parameter step changes are applied, favorable motor parameter tracking is made.<\div>

۲Novel Approach for Direct Kinematics Solution of 3–RRR Parallel Manipulator Following a Trajectory
نویسنده(ها): ، ،
اطلاعات انتشار: شانزدهمین کنفرانس سالانه مهندسی مکانیک، سال
تعداد صفحات: ۶
One of the essential parts in control and simulation of parallel manipulators is obtaining direct kinematic solution. The Direct kinematics of parallel manipulators has been a challenging problem because of complexity and is considered by a few researchers. There is not in general a close–form solution for the problem. Identifying the proper solution among multiple solutions is another challenging problem. This paper presents
direct kinematic solutions for a planar 3–RRR parallel manipulator. Numerical methods are traditionally used to obtain one of the solutions which due to path requirement and complexity of the path may not lead to the desired solution. We introduce the use of manipulator’s Jacobian in order to estimate the next direct kinematic solution. Jacobian is calculated using current point coordinates in a path to estimate next point coordinates. But it is shown that errors may add up and become non negligible. Bezout‘s elimination is used to obtain all possible solutions however identification of the correct solution still remains. The proposed method combines Bezout’s elimination with manipulator
Jacobian to efficiently identify the desired solution.<\div>

۳A GA Optimized Bi–Level Tuning Fuzzy Controller for a Planar 3–RRR Parallel Manipulator
نویسنده(ها): ، ، ،
اطلاعات انتشار: شانزدهمین کنفرانس سالانه مهندسی مکانیک، سال
تعداد صفحات: ۶
This paper illustrates an application of intelligent control for a planar 3–RRR parallel manipulator. Unlike control of serial manipulators that has been vastly addressed in scientific literature, control of parallel manipulators has been only addressed by few. A GA optimized bi–level tuning fuzzy PD controller is designed here to control the manipulator. In order to consider the maximum allowable torque applied to motors, the maximum torque is assumed to be the same for both controllers. A bi–level tuning method is used for tuning the fuzzy controller. In the first level, the f uzzy PD controller’s normalizing parameters are determined similar to a linear PD controller. In the second level, other parameters of the fuzzy controller are tuned using genetic algorithms. This fuzzy PD controller is compared by a simple linear PD controller. natural orthogonal compliment (NOC) method is used to simulate dynamics of the manipulator. Results indicate that the fuzzy PD controller has better performance over linear PD controller.<\div>

۴A GA Optimized Bi–Level Tuning Fuzzy Controller for a Planar 3–RRR Parallel Manipulator
نویسنده(ها): ، ، ،
اطلاعات انتشار: شانزدهمین کنفرانس سالانه مهندسی مکانیک، سال
تعداد صفحات: ۶
This paper illustrates an application of intelligent control for a planar 3–RRR parallel manipulator. Unlike control of serial manipulators that has been vastly addressed in scientific literature, control of parallel manipulators has been only addressed by few. A GA optimized bi–level tuning fuzzy PD controller is designed here to control the manipulator. In order to consider the maximum allowable torque applied to motors, the maximum torque is assumed to be the same for both controllers. A bi–level tuning method is used for tuning the fuzzy controller. In the first level, the f uzzy PD controller’s normalizing parameters are determined similar to a linear PD controller. In the second level, other parameters of the fuzzy controller are tuned using genetic algorithms. This fuzzy PD controller is compared by a simple linear PD controller. natural orthogonal compliment (NOC) method is used to simulate dynamics of the manipulator. Results indicate that the fuzzy PD controller has better performance over linear PD controller.<\div>
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