Showing papers in "IEEE Transactions on Industrial Electronics in 2003"
TL;DR: This paper presents an exhaustive review of three-phase improved power quality AC-DC converters configurations, control strategies, selection of components, comparative factors, recent trends, their suitability, and selection for specific applications.
Abstract: Solid-state switch-mode rectification converters have reached a matured level for improving power quality in terms of power-factor correction (PFC), reduced total harmonic distortion at input AC mains and precisely regulated DC output in buck, boost, buck-boost and multilevel modes with unidirectional and bidirectional power flow. This paper deals with a comprehensive review of improved power quality converters (IPQCs) configurations, control approaches, design features, selection of components, other related considerations, and their suitability and selection for specific applications. It is targeted to provide a wide spectrum on the status of IPQC technology to researchers, designers and application engineers working on switched-mode AC-DC converters. A classified list of more than 450 research publications on the state of art of IPQC is also given for a quick reference.
1,691 citations
TL;DR: A new mathematical model for IPMSMs is proposed and an extended EMF is defined, which includes both position information from the EMF and the stator inductance, and the experimental results show that the proposed method on the proposed model is very effective.
Abstract: During the last decade, many sensorless control methods have been proposed for surface permanent-magnet synchronous motors (SPMSMs) based on the estimation of electromotive force (EMF) in which the motor's position information is contained. However, these methods cannot be applied to interior PMSMs (IPMSMs) directly, because the position information is contained in not only the EMF, but also the inductance of stators. In this paper, a new mathematical model for IPMSMs is proposed and an extended EMF is defined, which includes both position information from the EMF and the stator inductance. By using the newly proposed model, sensorless controls proposed for SPMSMs can easily be applied to IPMSMs. As an example, a disturbance observer is studied and the experimental results show that the proposed method on the proposed model is very effective.
608 citations
TL;DR: In this paper, a feedforward MP-point tracking scheme is developed for the coupled-inductor interleaved-boost-converter-fed PV system using a fuzzy controller that results in better tracking performance.
Abstract: The photovoltaic (PV) generator exhibits a nonlinear V-I characteristic and its maximum power (MP) point varies with solar insolation. In this paper, a feedforward MP-point tracking scheme is developed for the coupled-inductor interleaved-boost-converter-fed PV system using a fuzzy controller. The proposed converter has lower switch current stress and improved efficiency over the noncoupled converter system. For a given solar insolation, the tracking algorithm changes the duty ratio of the converter such that the solar cell array voltage equals the voltage corresponding to the MP point. This is done by the feedforward loop, which generates an error signal by comparing the instantaneous array voltage and reference voltage corresponding to the MP point. Depending on the error and change of error signals, the fuzzy controller generates a control signal for the pulsewidth-modulation generator which in turn adjusts the duty ratio of the converter. The reference voltage corresponding to the MP point for the feedforward loop is obtained by an offline trained neural network. Experimental data are used for offline training of the neural network, which employs a backpropagation algorithm. The proposed peak power tracking effectiveness is demonstrated through simulation and experimental results. Tracking performance of the proposed controller is also compared with the conventional proportional-plus-integral-controller-based system. These studies reveal that the fuzzy controller results in better tracking performance.
477 citations
TL;DR: The proposed technique enables the implementation of high-efficiency high-power-density fully regulated fully regulated CEET systems suitable for applications with a wide input and load range.
Abstract: A high-performance contactless electrical energy transmission (CEET) technique which employs the inductive energy transmission principle is described. The proposed technique enables the implementation of high-efficiency high-power-density fully regulated CEET systems suitable for applications with a wide input and load range. A high efficiency of the system is achieved by recovering the energy stored in the leakage inductances of the transformer by incorporating them in the operation of the circuit, and by employing high-frequency-inverter and controlled-rectifier topologies that allow a controlled bidirectional power flow through the transformer. In addition, a feedforward variable-switching-frequency control of the inverter is used to maintain approximately constant power transfer through the transformer with the input voltage changes, whereas the output-side rectifier employs a local pulsewidth-modulation control to achieve a tight regulation of the output in the presence of load variations. Specifically, the described CEET system is suitable for use in universal-input battery chargers.
464 citations
TL;DR: An organized and normalized review of the industrial applications of artificial neural networks, in the last 12 years, is presented to help industrial managing and operational personnel decide which kind of ANN topology and training method would be adequate for their specific problems.
Abstract: This paper presents a comprehensive review of the industrial applications of artificial neural networks (ANNs), in the last 12 years. Common questions that arise to practitioners and control engineers while deciding how to use NNs for specific industrial tasks are answered. Workable issues regarding implementation details, training and performance evaluation of such algorithms are also discussed, based on a judiciously chronological organization of topologies and training methods effectively used in the past years. The most popular ANN topologies and training methods are listed and briefly discussed, as a reference to the application engineer. Finally, ANN industrial applications are grouped and tabulated by their main functions and what they actually performed on the referenced papers. The authors prepared this paper bearing in mind that an organized and normalized review would be suitable to help industrial managing and operational personnel decide which kind of ANN topology and training method would be adequate for their specific problems.
419 citations
TL;DR: This paper discusses how human-robot collaboration and dialogue provide an effective framework for achieving this, and finds ways to make command generation and coordination efficient, so that human- robotic interaction becomes transparent and tasks are easy to perform.
Abstract: Multi-robot remote driving has traditionally been a difficult problem. Whenever an operator is forced to divide his limited resources (attention, cognition, etc.) among multiple robots, control becomes complicated and performance deteriorates as a result. Thus, we need to find ways to make command generation and coordination efficient, so that human-robot interaction becomes transparent and tasks are easy to perform. In this paper, we discuss how human-robot collaboration and dialogue provide an effective framework for achieving this.
221 citations
TL;DR: A new approach is presented for the detection and classification of nonstationary signals in power networks by combining the S-transform and neural networks and is found to be a significant improvement over multiresolution wavelet analysis with multiple neural networks.
Abstract: In this paper, a new approach is presented for the detection and classification of nonstationary signals in power networks by combining the S-transform and neural networks. The S-transform provides frequency-dependent resolution that simultaneously localizes the real and imaginary spectra. The S-transform is similar to the wavelet transform but with a phase correction. This property is used to obtain useful features of the nonstationary signals that make the pattern recognition much simpler in comparison to the wavelet multiresolution analysis. Two neural network configurations are trained with features from the S-transform for recognizing the waveform class. The classification accuracy for a variety of power network disturbance signals for both types of neural networks is shown and is found to be a significant improvement over multiresolution wavelet analysis with multiple neural networks.
218 citations
TL;DR: The proposed BMS consists of a number of smart battery modules (SBMs) each of which provides battery equalization, monitoring, and battery protection to a string of battery cells.
Abstract: Battery management systems (BMSs) are used in many battery-operated industrial and commercial systems to make the battery operation more efficient and the estimation of battery state nondestructive. The existing BMS techniques are examined in this paper and a new design methodology for a generalized reliable BMS is proposed. The main advantage of the proposed BMS compared to the existing systems is that it provides a fault-tolerant capability and battery protection. The proposed BMS consists of a number of smart battery modules (SBMs) each of which provides battery equalization, monitoring, and battery protection to a string of battery cells. An evaluation SBM was developed and tested in the laboratory and experimental results verify the theoretical expectations.
211 citations
TL;DR: This paper presents the performance analysis of a hybrid filter composed of passive and active filters connected in series by evaluating the influence of passive filter parameters variations and the effects that different active power filter's gain have in the compensation performance of the hybrid scheme.
Abstract: This paper presents the performance analysis of a hybrid filter composed of passive and active filters connected in series. The analysis is done by evaluating the influence of passive filter parameters variations and the effects that different active power filter's gain have in the compensation performance of the hybrid scheme. The compensation performance is quantified by evaluating the attenuation factor in a power distribution system energizing high-power nonlinear loads compensated with passive filters and then improved with the connection of a series active power filter. Finally, compensation characteristics of the hybrid topology are tested on a 10-kVA experimental setup.
205 citations
TL;DR: In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviors are merged to implement the human-like driving skills by an autonomous car-like mobile robot (CLMR).
Abstract: In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviors are merged to implement the human-like driving skills by an autonomous car-like mobile robot (CLMR). Four kinds of FLCs, fuzzy wall-following control, fuzzy corner control, fuzzy garage-parking control, and fuzzy parallel-parking control, are synthesized to accomplish the autonomous fuzzy behavior control (AFBC). Computer simulation results illustrate the effectiveness of the proposed control schemes. The setup of the CLMR is provided, where the implementation of the AFBC on a field-programmable gate array chip is also addressed. Finally, the real-time implementation experiments of the CLMR in the test ground demonstrate the feasibility in practical car maneuvers.
203 citations
TL;DR: An adaptive backstepping control with friction compensation scheme is presented and system robustness and asymptotic position tracking performance are shown through simulation and experimental results.
Abstract: An adaptive backstepping control with friction compensation scheme is presented. A third-order linear dynamic model is used for the AC motor control system design while the LuGre dynamic friction model with nonuniform friction force variations characterizes the friction force. Nonlinear adaptive control laws are designed to compensate the unknown system parameters and disturbances. System robustness and asymptotic position tracking performance are shown through simulation and experimental results.
TL;DR: The key characteristics of the proposed WPD method are its ability to provide feature representations of multiple frequency resolutions for faulty modes, ability to clearly differentiate between healthy and faulty conditions, and its applicability to nonstationary signals.
Abstract: This paper presents a novel approach to induction motor current signature analysis based on wavelet packet decomposition (WPD) of the stator current. The novelty of the proposed method lies in the fact that by using WPD method the inherent nonstationary nature of stator current can be accurately considered. The key characteristics of the proposed method are its ability to provide feature representations of multiple frequency resolutions for faulty modes, ability to clearly differentiate between healthy and faulty conditions, and its applicability to nonstationary signals. Successful implementation of the system for two types of faults, i.e., rotor bar breakage and air-gap eccentricity is demonstrated here. The results are validated based on both simulation and experiments of a 5-hp induction motor.
TL;DR: A joint attention mechanism to achieve such joint attention as well as a speech generation system named Linta-III, which can omit obvious information in the situation from an utterance description, are proposed.
Abstract: This paper investigates situated utterance generation in human-robot interaction. In addition, we study the achievement of joint attention because a person must have joint attention with a robot to identify the object indicated by a situated utterance description generated by the robot. This paper proposes a joint attention mechanism to achieve such joint attention as well as a speech generation system named Linta-III. By using the joint attention mechanism, Linta-III can omit obvious information in the situation from an utterance description. The joint attention mechanism employs eye contact and attention expression functions. These functions are the robot's physical expressions, and they allow the joint attention mechanism to draw the person's attention to the same sensor information as that noticed by the robot. We have also conducted a psychological experiment to evaluate the joint attention mechanism. The results indicated that the eye contact and attention expression functions were effective methods in the development of joint attention.
TL;DR: A novel approach to harmonic and interharmonic analysis, based on the "subspace" methods, is proposed, and Min-norm harmonic retrieval method is an example of high-resolution eigenstructure-based methods.
Abstract: Modern frequency power converters generate a wide spectrum of harmonic components. Large converters systems can also generate noncharacteristic harmonics and interharmonics. Standard tools of harmonic analysis based on the Fourier transform assume that only harmonics are present and the periodicity intervals are fixed, while periodicity intervals in the presence of interharmonics are variable and very long. A novel approach to harmonic and interharmonic analysis, based on the "subspace" methods, is proposed. Min-norm harmonic retrieval method is an example of high-resolution eigenstructure-based methods. The Prony method as applied for signal analysis was also tested for this purpose. Both high-resolution methods do not show the disadvantages of the traditional tools and allow exact estimation of the interharmonics frequencies. To investigate the methods several experiments were performed using simulated signals, current waveforms at the output of a simulated frequency converter, and current waveforms at the output of an industrial frequency converter. For comparison, similar experiments were repeated using the fast Fourier transform (FFT). The comparison proved the superiority of the new methods. However, their computation is much more complex than FFT.
TL;DR: The generalized disturbance compensation framework, named the robust internal-loop compensator (RIC) is introduced and an advanced design method of a DOB is proposed based on the RIC, which guarantees the robustness and optimality of the DOB and enables the design for unstable plants.
Abstract: Disturbance-observer (DOB)-based controller design is one of the most popular methods in the field of motion control. In this paper, the generalized disturbance compensation framework, named the robust internal-loop compensator (RIC) is introduced and an advanced design method of a DOB is proposed based on the RIC. The mixed sensitivity optimization problem, which is the main issue of DOB design, is also solved through the parametrization of the DOB in the RIC framework. Differently from conventional methods, the Q-filter is separated from the mixed sensitivity optimization problem and a systematic design law for the DOB is proposed. This guarantees the robustness and optimality of the DOB and enables the design for unstable plants.
TL;DR: By using triangular carrier wave and proper modulating waves for each inverter, the open-end winding induction motor can be operated in the entire modulation range, eliminating all the 6n /spl plusmn/ 1 harmonics coupled with 11th and 13th harmonic suppression.
Abstract: In this paper, a harmonic elimination and suppression scheme for a dual-inverter-fed open-end winding induction motor drive is presented. Two isolated dc-link sources with voltage ratio of approximately 1 : 0.366 are required for the present drive. These two isolated do links feeding two inverters to drive the open-end winding induction motor eliminate the triplen harmonic currents from the motor phase. The pulsewidth-modulation scheme proposed enables the cancellation of all the 5th- and 7th-order (6n /spl plusmn/ 1, where n = 1, 3, 5, 7, etc.) harmonic voltages and suppresses the 11th- and 13th-order harmonic voltage amplitudes in the motor phase voltage, in all modulation ranges. The next higher order harmonics present in the motor phase voltages are 23rd, 25th, 35th, 37th etc. (6n /spl plusmn/ 1, n = 4, 6, etc.). By using triangular carrier wave and proper modulating waves for each inverter, the open-end winding induction motor can be operated in the entire modulation range, eliminating all the 6n /spl plusmn/ 1 harmonics (n = 1, 3, 5, 7, etc.) coupled with 11th and 13th harmonic suppression. The proposed scheme also gives a smooth transition to the overmodulation region.
TL;DR: This paper proposes a system of mobile robots, which is controlled in a distributed intelligent sensor network, in which the environment is divided by distributed sensors and robots are able to accomplish tasks simply by following orders from the sensor devices in the networked environment.
Abstract: Mobile robots need sufficient sensors and information on the environment in order to navigate. In this paper, we propose a system of mobile robots, which is controlled in a distributed intelligent sensor network. In such a networked space, the environment is divided by distributed sensors. Each area is monitored by a distributed sensor device, which connects with other distributed sensor devices and robots throughout the network. As a result, the mobile robots are able to accomplish tasks simply by following orders from the sensor devices in the networked environment, although the mobile robots are not self-contained with information on the environment and sensors for self-positioning and control. We test several situations to verify the proposed system.
TL;DR: Investigations were carried out on a novel direct torque control system, which not only reduces the undesirable torque ripple by up to 98% by means of introducing a modulation between the selected active state and a zero state, but also maintains constant switching frequency.
Abstract: Investigations were carried out on a novel direct torque control system, which not only reduces the undesirable torque ripple by up to 98% by means of introducing a modulation between the selected active state and a zero state, but also maintains constant switching frequency. Additionally, this two-state modulator is fuzzy adaptive and may be applied to any induction motor. Simulation and the results of experiment illustrate the operation and performance of the proposed fuzzy-logic-based controller.
TL;DR: Numerical and experimental simulations, and prototyping, are presented to demonstrate the feasibility of the proposed adaptation scheme to handle network QoS variation in a control loop and show the promising future of the use of gain adaptation in networked control applications.
Abstract: Connecting a complex control system with various sensors, actuators, and controllers as a networked control system by a shared data network can effectively reduce complicated wiring connections. This system is also easy to install and maintain. The trend is to use networked control systems for time-sensitive applications, such as remote DC motor actuation control. The performance of a networked control system can be improved if the network can guarantee quality-of-service (QoS). Due to time-varying network traffic demands and disturbances, QoS requirements provided by a network may change. In this case, a network has to reallocate its resources and may not be able to provide QoS requirements to a networked control application as needed. Therefore, the application may have to gracefully degrade its performance and perform the task as best as possible with the provided network QoS. This paper proposes a novel approach for networked DC motor control systems using controller gain adaptation to compensate for the changes in QoS requirements. Numerical and experimental simulations, and prototyping, are presented to demonstrate the feasibility of the proposed adaptation scheme to handle network QoS variation in a control loop. The effective results show the promising future of the use of gain adaptation in networked control applications.
TL;DR: In order to eliminate the drift problems, the pure integrator of the voltage model is replaced with a first-order low-pass filter, and the error due to this replacement is compensated in a very simple way.
Abstract: This letter deals with voltage model flux estimators for sensorless induction motor drives. In order to eliminate the drift problems, the pure integrator of the voltage model is replaced with a first-order low-pass filter, and the error due to this replacement is compensated in a very simple way.
TL;DR: This paper focuses on image processing as the main source of relevant object information, representation and fusion of data that might arise from different sensors, and behavior planning and generation as a basis for autonomous driving.
Abstract: Since the potential of soft computing for driver assistance systems has been recognized, much effort has been spent in the development of appropriate techniques for robust lane detection, object classification, tracking, and representation of task relevant objects. For such systems in order to be able to perform their tasks the environment must be sensed by one or more sensors. Usually a complex processing, fusion, and interpretation of the sensor data is required and imposes a modular architecture for the overall system. In this paper, we present specific approaches considering the main components of such systems. We concentrate on image processing as the main source of relevant object information, representation and fusion of data that might arise from different sensors, and behavior planning and generation as a basis for autonomous driving. Within our system components most paradigms of soft computing are employed; in this article we focus on Kalman filtering for sensor fusion, neural field dynamics for behavior generation, and evolutionary algorithms for optimization of parts of the system.
TL;DR: This paper proposes a balanced switching converter circuit, which is an effective way to reduce the common-mode conducted noise, and a boost converter version of thebalanced switching converter is presented.
Abstract: Because conventional switching converters have usually used unbalanced circuit topologies, parasitic capacitance between the drain/collector of an active switch and the frame ground through its heat sink may generate the common-mode conducted noise. This paper proposes a balanced switching converter circuit, which is an effective way to reduce the common-mode conducted noise. As an example, a boost converter version of the balanced switching converter is presented, and the mechanism of the common-mode noise reduction is explained using an equivalent circuit. This good feature is confirmed by experimental results. The concept of the balanced switching converter is applied to some other types of switching converters.
TL;DR: Two kinds of nonlinear phenomena are detected under the conditions that are considered to be stable by the prior criteria: one is period-doubling bifurcation and the other is chaos.
Abstract: The boost power-factor-correction (PFC) converter with average-current-mode control is a nonlinear system due to the effects of the multiplier and a large variation of the duty ratio. Although its stability analysis must be studied depending on a nonlinear model, most prior research attempted to make some assumptions to force this nonlinear system to be linear. As a result, the practical dynamics and the nonlinear phenomena were disregarded. In this paper, two kinds of nonlinear phenomena are detected under the conditions that are considered to be stable by the prior criteria: one is period-doubling bifurcation and the other is chaos. Stability maps and phase-plane trajectories are introduced at different loads to clarify the power factor and also the instability regions. It is clear that the output storage capacitor is a main contributing parameter on the system stability, therefore, bifurcation maps are developed to determine the accurate minimum output capacitance value that assures the system stability under all operating conditions. Also, PFC converter stability is explained and judged by comparing the consequence of charging and discharging energy in the output capacitor.
TL;DR: The experimental results indicate the feasibility of the proposed algorithm for a hand-pose estimation that can be used for vision-based human interfaces, although the algorithm requires faster implementation for real-time processing.
Abstract: This paper proposes a novel method for a hand-pose estimation that can be used for vision-based human interfaces. The aim of this method is to estimate all joint angles. In this method, the hand regions are extracted from multiple images obtained by a multiviewpoint camera system. By integrating these multiviewpoint silhouette images, a hand pose is reconstructed as a "voxel model." Then, all joint angles are estimated using a three-dimensional model fitting between the hand model and the voxel model. The following two experiments were performed: (1) an estimation of joint angles by the silhouette images from the hand-pose simulator and (2) hand-pose estimation using real hand images. The experimental results indicate the feasibility of the proposed algorithm for vision-based interfaces, although the algorithm requires faster implementation for real-time processing.
TL;DR: Experimental evaluation conducted on an industrial selectively compliant assembly robot arm demonstrates that excellent tracking performance can be achieved under time-varying conditions.
Abstract: This paper presents a robust adaptive fuzzy neural controller (AFNC) suitable for motion control of multilink robot manipulators. The proposed controller has the following salient features: (1) self-organizing fuzzy neural structure, i.e., fuzzy control rules can be generated or deleted automatically according to their significance to the control system and the complexity of the mapped system and no predefined fuzzy rules are required; (2) fast online learning ability, i.e., no prescribed training models are needed for online learning and weights of the fuzzy neural controller are modified without any iterations; (3) fast convergence of tracking errors, i.e., manipulator joints can track the desired trajectories very quickly; (4) adaptive control, i.e., structure and parameters of the AFNC can be self-adaptive in the presence of disturbances to maintain high control performance; and (5) robust control, where asymptotic stability of the control system is established using the Lyapunov theorem. Experimental evaluation conducted on an industrial selectively compliant assembly robot arm demonstrates that excellent tracking performance can be achieved under time-varying conditions.
TL;DR: This paper presents a neural network with a novel neuron model that has two activation functions and exhibits a node-to-node relationship in the hidden layer, and provides better performance than a traditional feedforward neural network, and fewer hidden nodes are needed.
Abstract: This paper presents a neural network with a novel neuron model. In this model, the neuron has two activation functions and exhibits a node-to-node relationship in the hidden layer. This neural network provides better performance than a traditional feedforward neural network, and fewer hidden nodes are needed. The parameters of the proposed neural network are tuned by a genetic algorithm with arithmetic crossover and nonuniform mutation. Some applications are given to show the merits of the proposed neural network.
TL;DR: A single-switch continuous-conduction-mode boost converter with reduced reverse-recovery and switching losses is proposed by utilizing the leakage inductances of a pair of coupled inductors and two additional rectifiers.
Abstract: A single-switch continuous-conduction-mode boost converter with reduced reverse-recovery and switching losses is proposed. By utilizing the leakage inductances of a pair of coupled inductors and two additional rectifiers, the turn-off rates (di/dt) of the boost output rectifier and the additional rectifiers are slowed down to reduce the reverse-recovery loss. The boost power transistor is also operated under a low-voltage turn-on condition to reduce the switching loss. Experimental results are presented to confirm the theoretical analysis and the performance of the proposed converter.
TL;DR: A complete architecture of FDA is proposed by incorporating the intelligent fault tolerant control strategy with a cost-effective fault detection scheme and a multiple-model based failure diagnosis process to efficiently handle the false alarms and the accommodation of both the anticipated and unanticipated failures in online situations.
Abstract: While most research attention has been focused on fault detection and diagnosis, much less research effort has been devoted to failure accommodation. Due to the inherent complexity of nonlinear systems, most model-based analytical redundancy fault diagnosis and accommodation (FDA) studies deal with the linear systems, which are subjected to simple additive or multiplicative faults. This assumption has limited the effectiveness and usefulness in practical applications. In this paper, the online fault accommodation (FA) control problems under multiple catastrophic or incipient failures are investigated. The main interest is focused on dealing with the unanticipated component failures in the most general formulation. Through discrete-time Lyapunov stability theory, the sufficient conditions to guarantee the system online stability and to meet performance criteria under failures are derived. A systematic procedure for proper FA under the unanticipated failures is developed. The approach is to combine the control technique derived from discrete-time Lyapunov theory with the modern intelligent technique that is capable of self-optimization and online adaptation for real-time failure estimation. In addition, a complete architecture of FDA is proposed by incorporating the intelligent fault tolerant control strategy with a cost-effective fault detection scheme and a multiple-model based failure diagnosis process to efficiently handle the false alarms and the accommodation of both the anticipated and unanticipated failures in online situations. The simulation results, including a three-tank benchmark problem, substantiate the feasibility study of the proposed FDA framework and provide a promising potential to spin-off applications in industrial and aerospace engineering.
TL;DR: This paper is the first to apply a multilevel driver assistance system in the development of a system to aid in the parking process and the results of lane and row parking experiments conducted using the prototype system are shown.
Abstract: This paper is the first to apply a multilevel driver assistance system in the development of a system to aid in the parking process. The development of this system is described within the iCAN (intelligent car navigation systems) project framework. A parking assistance system, parking administration system, and employed sensor system are described. The general architecture of a driver assistance system based on path planning and human-machine interface (HMI) modules is proposed. The paper follows describing the parking assistance system development using this architecture. The parking possibility region-based path-planning method proposed for implementing the proposed architecture is described, as is the design of the system's HMI. A prototype of the parking assistance system based on the proposed architecture was constructed. The adopted hardware, software, and implementation solutions in this prototype construction are described. Finally, the results of lane and row parking experiments conducted using the prototype system are shown.
TL;DR: Numerical simulations in comparison with experimental data using the Harmonic Drive Test Apparatus verify the accuracy of the proposed model to represent the complex hysteresis dynamics of harmonic drives.
Abstract: In this paper, we propose a new dynamic model to describe the hysteresis phenomenon in harmonic drives. The experimental observation of the dynamic torque-displacement relationship for a harmonic drive shows a hysteresis characteristic indicating the simultaneous presence of energy storage and energy dissipation mechanisms. To completely characterize these mechanisms and yet have a simple representation for control, we develop a new hysteresis model using the heredity concept of dynamic systems. This model represents the hysteresis phenomenon by a combination of a nonlinear stiffness component and a nonlinear damping component leading to a mathematically well-posed nonlinear differential equation. The parameters of the model are identified using optimization techniques. We present some important mathematical properties of the model that give insight into model behavior and thus establish a mathematical basis for control. Numerical simulations in comparison with experimental data using our Harmonic Drive Test Apparatus verify the accuracy of the proposed model to represent the complex hysteresis dynamics of harmonic drives.