Development Trends in Sensorless AC Drive Technology
Joachim Holtz, Fellow, IEEE
Electrical Machines and Drives Group, University of Wuppertal
42097 Wuppertal ¨C Germany
Abstract:
Sensorless control of induction motors and permanent magnet synchronous motors is an attractive technology which has gained considerable market share in the past few years. Improvements are still sought with respect to simplicity, robustness and accuracy at very low speed. Two basic methodologies are competing to reach this goal. Algorithms that rely on the fundamental model of the respective excel through their simplicity, even when more sophisticated and detailed models are implemented for the components of the drive system. Additional hardware for the acquisition of the machine terminal voltage can be spared when modelling the inverter as a nonlinear component. Immunity to noise and offset drift is achieved by appropriate estimators. Parameter estimation schemes adapt the control system to any given machine.
Most critical conditions exist around zero stator frequency. The drive machines then become unobservable systems. Even though can induction motors be controlled in this region using the fundamental machine model, although only for a limited period of time. Persistent zero frequency operation is achieved by exploiting the anisotropic properties of the machine. The machine is then repetitively subjected to transient conditions which permits extracting the spatial orientations of the anisotropies as a signature. A separation of the saturation induced and the structural anisotropy yields a high-resolution position signal of high dynamic bandwidth. The approach also permits identifying the rotor position of permanent magnet machines which is a prerequisite for their control around zero speed .
Biography:
Joachim Holtz graduated in 1967 and received the Ph.D. degree in 1969 from the Technical University Braunschweig, Germany. In 1969 he became Associate Professor and, in 1971, Full Professor and Head of the Control Engineering Laboratory, Indian Institute of Technology in Madras, India. He joined the Siemens Research Laboratories in Erlangen, Germany, in 1972. From 1976 to 1998, he was Professor and Head of the Electrical Machines and Drives Laboratory, Wuppertal University, Germany. He is presently Professor Emeritus and a Consultant.
Dr. Holtz has extensively published, among others 12 invited papers in journals and 2 invited papers in the PROCEEDINGS OF THE IEEE. He has received 12 Prize Paper Awards. He is the coauthor of four books, and holds 31 patents.
Dr. Holtz is the recipient of the IEEE Industrial Electronics Society Dr. Eugene Mittelmann Achievement Award, the IEEE Industrial Applications Society Outstanding Achievement Award, the IEEE Power Electronics Society William E. Newell Field Award, the IEEE Third Millenium Medal, and the IEEE Lamme Gold Medal. He is a Fellow of the IEEE and Past Editor-in-Chief, IEEE Tran-sactions on Indu-strial Electronics.
Research Opportunities in Robotics
Tzyh Jong Tarn
Washington Universities
St. Louis, Missouri USA
Abstract:
Robots are poised to become, sooner or later, a part of everyday life. They will interact with human and play a role as human assistants. Based on presentations at a recent IARP Workshop on Micro and NANO Robotics in Paris , France ( www.robotics-platform.eu.com ; http://iarp06.robot.jussieu.fr/ ), this talk will start to analyze the market trends. Attention will be paid to the application oriented methodology by first identify technological challenges in product scenarios and define the common technological breakthrough requirements. Next is to do cross-fertilization analysis for identified technical domains and towards de-fragmentation of research. The final focus is on research and technology cross- fertilization.
Biography:
Dr. Tarn received the D.Sc. degree in control system engineering from Washington University , St. Louis , MO , in 1968. He is currently a Professor in the Department of Systems Science and Mathematics and the Director of the Center for Robotics and Automation at Washington University . He has also held visiting positions at Imperial College , England ; the University of Rome, Italy; Nagoya University , Japan ; the Ecole Nationale Superieure de Mecanique, France , and the Academy of Science , USSR . He was awarded the title of Honorary Professor at more than ten Chinese universities, including Sichuan University , Tsinghua University , and the University of Science and Technology, Hefei . Dr. Tarn served as a member of the International Federation on Automatic Control Congress Young Author Prize Committee in 1990, 1993, and in 1996, and as the General Chairman of the First World Congress on Intelligent Control and Intelligent Automation, Beijing , China , 1993. He has also served twice as a member of the Nomination Committee of the prestigious Japan Prize and as a member of the Review Committee of the Institute for Robotics and Intelligent Systems of the Network of Centers of the Excellent Program of the Natural Sciences and Engineering Research Council of Canada. He has published over 300 papers, including over 100 papers on dynamic modeling and control of robotic systems.
An active member of the IEEE Robotics and Automation Society, Dr. Tarn served as a Technical Editor of the IEEE Transactions on Robotics and Automation from 1989 to 1991, the Vice President for Technical Activities from 1989 to 1990, the Program Chairman of the 1991 IEEE International Conference on Robotics and Automation, the President of the IEEE Robotics and Automation Society, 1992-1993, the General Chair of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001. He also served as an Associate Editor of the IEEE Transactions on Automatic Control from 1986 to 1989, an Editor of the IEEE/ASME Transactions on Mechatronics, 1996-2000, the Director of the IEEE Division X (Systems and Control), 1995-1996, a member of the Technical Activities Board (TAB), 1992-1996, a member of the United States Activities Board (USAB), 1996-1997, a member of the Educational Activities Board (EAB), 1996, a member of the IEEE Board of Directors, 1995-1996, and the Editor of the IEEE TAB/Press Book Series on Design and Applications, 1994-1996. He currently serves as the Vice President for Conferences of the Robotics and Automation Society.
He received the NASA Certificate of Recognition for the creative development of a technical innovation on "Robot Arm Dynamic Control by Computer" in 1987. The Japan Foundation for the Promotion of Advanced Automation Technology presented him with the Best Research Article Award in March, 1994. He also received the Best Paper Award at the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, and the Distinguished Member Award from the IEEE Control Systems Society in 1996. He is the first recipient of both the Nakamura Prize (in recognition and appreciation of his contribution to the advancement of the technology on intelligent robots and systems over a decade) at the 10th Anniversary of IROS in Grenoble , France , 1997 and the Ford Motor Company best paper award at the Japan/USA Symposium on Flexible Automation, Otsu , Japan , 1998. In addition, he is the recipient of the prestigious Joseph F. Engelberger Award of the Robotic Industries Association in 1999 for contributing to the advancement of the science of robotics, the Auto Soft Lifetime Achievement Award in 2000 in recognition of his pioneering and outstanding contributions to the fields of Robotics and Automation and the Pioneer in Robotics and Automation Award in 2003 from the IEEE Robotics and Automation Society for his technical contribution in developing and implementing nonlinear feedback control concepts for robotics and automation. He was featured in the Special Report on Engineering of the 1998 Best Graduate School issue of US News and World Report and his recent research accomplishments were reported recently in the ¡°Washington Times¡±, Washington D.C., the ¡°Financial Times¡±, London, ¡°Le Monde¡±, Paris, and the ¡°Chicago Sun-Times¡±, Chicago, etc. Dr. Tarn is a Fellow of IEEE.
Evolutionary Computation and Its Applications
Xin Yao
Abstract:
Evolutionary computation has enjoyed an incredible growth in recent years. This talk will highlight a few recent examples in evolutionary computation, including fast evolutionary optimisation algorithms, constraint handling techniques, evolutionary modelling of alloy materials, route optimisation for salting trucks, co-evolutionary learning of strategies, evolutionary learning and theoretical foundations. These examples show clearly the depth and breadth of the advances in evolutionary computation and its applications in recent years. They also illustrate the great potentials of evolutionary computation as a research field.
Biography:
Xin Yao is currently a Chair (Full Professor) of Computer Science at Birmingham, UK. He received the B.Sc. degree from the University of Science and Technology of China (USTC), Hefei, Anhui, in 1982, the M.Sc. degree from the North China Institute of Computing Technology, Beijing, in 1985, and the Ph.D. degree from USTC in 1990.
He was an Associate Lecturer and Lecturer from 1985 to 1990 at USTC, while working towards his Ph.D on simulated annealing and evolutionary algorithms. He took up a Postdoctoral Fellowship in the Computer Sciences Laboratory, Australian National University (ANU), Canberra, in 1990, and continued his work on simulated annealing and evolutionary algorithms. He joined the Knowledge-Based Systems Group, CSIRO (Commonwealth Scientific and Industrial Research Organisation) Division of Building, Construction and Engineering, Melbourne, in 1991, working primarily on an industrial project on automatic inspection of sewage pipes. He returned to Canberra in 1992 to take up a lectureship in the School of Computer Science, University College, University of New South Wales (UNSW), Australian Defence Force Academy (ADFA), where he was later promoted to a Senior Lecturer and Associate Professor. Attracted by the English weather, he moved to the University of Birmingham, U.K., as a Professor of Computer Science on the April Fool's Day in 1999.
Currently, he is the Director of the Centre of Excellence for Research in Computational Intelligence and Applications (CERCIA) and a Changjiang Chair (Visiting) Professor (Cheung Kong Scholar) at the University of Science and Technology of China, Hefei. He is the Editor-in-Chief of the IEEE Transactions on Evolutionary Computation, an associate editor or editorial board member of 12 other journals, and the Editor of the World Scientific Book Series on Advances in Natural Computation. He has given more than 50 invited keynote and plenary speeches at conferences and workshops worldwide. His major research interests include evolutionary computation, neural network ensembles, optimization, and real-world applications. He has more than 250 refereed publications. He was awarded the President's Award for Outstanding Thesis by the Chinese Academy of Sciences for his Ph.D. work on simulated annealing and evolutionary algorithms in 1989, and the 2001 IEEE Donald G. Fink Prize Paper Award for his work on evolutionary artificial neural networks.