Rotating Coordinate

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Yositsugu Okamura - One of the best experts on this subject based on the ideXlab platform.

  • variable frequency inverter with sinusoidal voltage outputs using Rotating Coordinate transformation
    Electrical Engineering in Japan, 1997
    Co-Authors: Hirotami Nakano, Masayuki Jibiki, Akira Nabae, Yositsugu Okamura
    Abstract:

    An ideal inverter should have sinusoidal voltage and current outputs. Generally, output voltages of a voltage-source PWM inverter contain high-level switching frequency harmonies due to the PWM operation, while output currents are kept nearly sinusoidal. High-level harmonics contained in output voltages of a voltage-source inverter cause acoustic noises, iron losses and electromagnetic interferences. An LC filter was used to suppress the switching frequency harmonics; however, there is a danger of resonance in the LC filter. Accordingly, to remove harmonics of the LC filter resonance frequency, the authors add a voltage feedback loop. A conventional system can operate without difficulty within 50 Hz. However, with accompanying increases in the output frequency, output voltages are largely delayed and reduced by a high-pass filter inserted in the feedback loop. These problems are caused by a high-pass filter inserted in the feedback loop. Accompanied by the inverter output frequency, a high-pass filter cannot remove the fundamental component perfectly. As a result, a small fundamental component is fed back, which causes a delay and decrease in output voltage. This paper proposes the application of Coordinate transformation to a high-pass filter inserted in the feedback loop. As a result, the proposed system realizes an ideal filter which can suppress fundamental frequency components perfectly, and improves the characteristics of the inverter with sinusoidal voltage outputs greatly. Theoretical analyses, simulations and experiments showed satisfactory results. © 1997 Scripta Technica, Inc. Electr Eng Jpn, 118 (4): 94–102, 1997

  • variable frequency inverter with sinusoidal voltage outputs using Rotating Coordinate transformation
    Ieej Transactions on Industry Applications, 1995
    Co-Authors: Hirotami Nakano, Masayuki Jibiki, Akira Nabae, Yositsugu Okamura
    Abstract:

    An ideal inverter should have sinusoidal voltage and current outputs. Generally, output voltages of a voltage-source PWM inverter contain high level switching frequency harmonics due to the PWM operation, while output currents are kept nearly sinusoidal. High level harmonics contained in output voltages of a voltage-source inverter cause acoustic noises, iron losses and electromagnetic interferences. An L-C filter was used to suppress the switching frequency harmonics; however, there is reason to fear resonance in the L-C filter. Accordingly, in order to remove harmonics of the L-C filter resonance frequency, the authors add a voltage feed-back loop.A conventional system can operate without difficulty within 50Hz. However, with accompanying increases of the output frequency, output voltages are largely delayed and reduced by a high-pass filter inserted in the feed-back loop. These problems are caused by a high-pass filter inserted in the feed-back loop. Accompanied by the inverter output frequency, a high-pass filter can not remove the fundamental component perfectly. As the result, a small fundamental component is fed back, which causes a delay and decrease of output voltage.In this paper, the authors propose to apply Coordinate transformation to a high-pass filter inserted in the feed-back loop. As a result, the proposed system has realized the ideal filter which can suppress fundamental frequency components perfectly, and characteristics of the inverter with sinusoidal voltage outputs are greatly improved. And theoretical analysis, simulations and experiments showed satisfactory results.

  • A novel control strategy of the inverter with sinusoidal voltage and current outputs
    Proceedings of 1994 Power Electronics Specialist Conference - PESC'94, 1
    Co-Authors: Akira Nabae, H. Nakano, Yositsugu Okamura
    Abstract:

    The authors have previously proposed a novel inverter with sinusoidal, voltage and current outputs (1992). In the novel inverter, the design of a high-pass filter inserted in the feedback circuit largely influences the output waveforms. In this paper, the authors show a solution to the design problem of the high-pass filter, applying a Rotating Coordinate transformation. >

Kyoungchul Kong - One of the best experts on this subject based on the ideXlab platform.

  • Two-Degree-of-Freedom Control of a Two-Link Manipulator in the Rotating Coordinate System
    IEEE Transactions on Industrial Electronics, 2015
    Co-Authors: Kyoungchul Kong
    Abstract:

    As applications and tasks of robotic manipulators become more diverse and complicated, the desired motions of the robots also become more sophisticated and complicated. In spite of this diversity of tasks, the Coordinate system to describe the tasks has not been changed much; the conventional Cartesian Coordinate system is still the most widely used Coordinate system. It is found in this paper that the Rotating Coordinate system significantly simplifies the kinematics of a two-link robotic manipulator with the biarticular actuation coordination, which is inspired from human muscles that can generate torques at adjoining two joints simultaneously. Taking the advantage of this simple kinematic relationship by the Rotating Coordinate system and the biarticular actuator coordination, the dynamics of the two-link manipulator is analyzed, and a disturbance observer (DOB) is designed based on the derived dynamics to nominalize the actual dynamics and to reject undesired disturbances. The proposed DOB-based control algorithm can achieve better control performance in the Rotating Coordinate system, and comparative experiments verify the effectiveness of the proposed Coordinate system and control methods.

  • design of a biarticular robotic manipulator and its control in the Rotating Coordinate system
    International Conference on Advanced Intelligent Mechatronics, 2014
    Co-Authors: Hyunjin Choi, Kyoungchul Kong
    Abstract:

    In human-interacting applications of the robotic manipulators, it is important for the robotic manipulators to emulate the dynamic characteristics and performance of human motions. To this end, a biarticular actuation mechanism is introduced to solve the kinematics and dynamics of a two-link manipulator in this paper. For an effective and convenient expression of the equation of motion from inspiration of the human musculoskeletal structure, the kinematics and dynamics are analyzed in the Rotating Coordinate system, which enables the sophisticated and intuitive control of an end-effector. In order to provide a general platform for designing control algorithms and state observers, the dynamic equation is formalized into a state-space equation. A feedback controller is designed (1) to reject undesired dynamic couplings caused by the inherent mechanical structure and (2) to realize the desired dynamic characteristics to achieve position control of the end-effector. The proposed methods are verified by experimental results in this paper.

  • AIM - Design of a biarticular robotic manipulator and its control in the Rotating Coordinate system
    2014 IEEE ASME International Conference on Advanced Intelligent Mechatronics, 2014
    Co-Authors: Hyunjin Choi, Kyoungchul Kong
    Abstract:

    In human-interacting applications of the robotic manipulators, it is important for the robotic manipulators to emulate the dynamic characteristics and performance of human motions. To this end, a biarticular actuation mechanism is introduced to solve the kinematics and dynamics of a two-link manipulator in this paper. For an effective and convenient expression of the equation of motion from inspiration of the human musculoskeletal structure, the kinematics and dynamics are analyzed in the Rotating Coordinate system, which enables the sophisticated and intuitive control of an end-effector. In order to provide a general platform for designing control algorithms and state observers, the dynamic equation is formalized into a state-space equation. A feedback controller is designed (1) to reject undesired dynamic couplings caused by the inherent mechanical structure and (2) to realize the desired dynamic characteristics to achieve position control of the end-effector. The proposed methods are verified by experimental results in this paper.

Qin Zhiqing - One of the best experts on this subject based on the ideXlab platform.

  • a new harmonic detection method for three phase four wire system based on orthogonal transformation of multi frequency Rotating Coordinate
    Power system technology, 2010
    Co-Authors: Qin Zhiqing
    Abstract:

    Harmonic detection is an important foundation for the analysis and control of power system harmonics. Based on orthogonal transformation of multi-frequency Rotating Coordinate, a harmonic detection approach for three-phase four-wire system is proposed; the basic principle of orthogonal transformation of multi-frequency Rotating Coordinate and corresponding implementation of harmonic detection are expounded in detail, and simulation results are given. By means of orthogonal transformation of multi-frequency Rotating Coordinate, the instantaneous voltages and currents in three-phase system are changed into instantaneous voltages and currents in three-dimensional multi-frequency Rotating space; then utilizing decomposition of AC and DC components in orthogonal Coordinates, instantaneous voltages and currents in three-dimensional multi-frequency Rotating space are further processed to obtain spatial instantaneous voltages and currents with specific frequencies; finally, the results from the analysis and processing are changed back into instantaneous voltages and currents in three-phase system. Both theoretical analysis and simulation results show that the proposed approach can detect real-time instantaneous value of any order of harmonic component and fundamental component without principle error, and it possesses following such advantages as high detection accuracy, good real-time performance and convenient for implementation.

Hirotami Nakano - One of the best experts on this subject based on the ideXlab platform.

  • Proposal of 3-Phase Spectrum Analyzer based on Rotating Coordinate Transformations
    IEEJ Transactions on Industry Applications, 2000
    Co-Authors: Hirotami Nakano, Yoshinori Aono, Masanobu Naitoh, Ryou Kondou, Hiroshi Eda, Makoto Matsukawa, Yushi Miura
    Abstract:

    In a 3-phase power supply, analysis of a 3-phase spectrum can be done using a conventional single-phase spectrul analyzing method. However, precise analysis of the 3-phase spectrum is difficult by the conventional analyzing method. For instance, the conventional single-phase analytic method cannot distinguish between positive-phase-sequence and negative-phase-sequence in the 3-phase power supply. To solve above problem, this paper proposes a novel 3-phase spectrum analyzer on a Rotating Coordinate transformation. The proposed 3-phase spectrum analyzer is quite effective for analysis of the 3-phase spectrum.

  • variable frequency inverter with sinusoidal voltage outputs using Rotating Coordinate transformation
    Electrical Engineering in Japan, 1997
    Co-Authors: Hirotami Nakano, Masayuki Jibiki, Akira Nabae, Yositsugu Okamura
    Abstract:

    An ideal inverter should have sinusoidal voltage and current outputs. Generally, output voltages of a voltage-source PWM inverter contain high-level switching frequency harmonies due to the PWM operation, while output currents are kept nearly sinusoidal. High-level harmonics contained in output voltages of a voltage-source inverter cause acoustic noises, iron losses and electromagnetic interferences. An LC filter was used to suppress the switching frequency harmonics; however, there is a danger of resonance in the LC filter. Accordingly, to remove harmonics of the LC filter resonance frequency, the authors add a voltage feedback loop. A conventional system can operate without difficulty within 50 Hz. However, with accompanying increases in the output frequency, output voltages are largely delayed and reduced by a high-pass filter inserted in the feedback loop. These problems are caused by a high-pass filter inserted in the feedback loop. Accompanied by the inverter output frequency, a high-pass filter cannot remove the fundamental component perfectly. As a result, a small fundamental component is fed back, which causes a delay and decrease in output voltage. This paper proposes the application of Coordinate transformation to a high-pass filter inserted in the feedback loop. As a result, the proposed system realizes an ideal filter which can suppress fundamental frequency components perfectly, and improves the characteristics of the inverter with sinusoidal voltage outputs greatly. Theoretical analyses, simulations and experiments showed satisfactory results. © 1997 Scripta Technica, Inc. Electr Eng Jpn, 118 (4): 94–102, 1997

  • variable frequency inverter with sinusoidal voltage outputs using Rotating Coordinate transformation
    Ieej Transactions on Industry Applications, 1995
    Co-Authors: Hirotami Nakano, Masayuki Jibiki, Akira Nabae, Yositsugu Okamura
    Abstract:

    An ideal inverter should have sinusoidal voltage and current outputs. Generally, output voltages of a voltage-source PWM inverter contain high level switching frequency harmonics due to the PWM operation, while output currents are kept nearly sinusoidal. High level harmonics contained in output voltages of a voltage-source inverter cause acoustic noises, iron losses and electromagnetic interferences. An L-C filter was used to suppress the switching frequency harmonics; however, there is reason to fear resonance in the L-C filter. Accordingly, in order to remove harmonics of the L-C filter resonance frequency, the authors add a voltage feed-back loop.A conventional system can operate without difficulty within 50Hz. However, with accompanying increases of the output frequency, output voltages are largely delayed and reduced by a high-pass filter inserted in the feed-back loop. These problems are caused by a high-pass filter inserted in the feed-back loop. Accompanied by the inverter output frequency, a high-pass filter can not remove the fundamental component perfectly. As the result, a small fundamental component is fed back, which causes a delay and decrease of output voltage.In this paper, the authors propose to apply Coordinate transformation to a high-pass filter inserted in the feed-back loop. As a result, the proposed system has realized the ideal filter which can suppress fundamental frequency components perfectly, and characteristics of the inverter with sinusoidal voltage outputs are greatly improved. And theoretical analysis, simulations and experiments showed satisfactory results.

Akira Nabae - One of the best experts on this subject based on the ideXlab platform.

  • variable frequency inverter with sinusoidal voltage outputs using Rotating Coordinate transformation
    Electrical Engineering in Japan, 1997
    Co-Authors: Hirotami Nakano, Masayuki Jibiki, Akira Nabae, Yositsugu Okamura
    Abstract:

    An ideal inverter should have sinusoidal voltage and current outputs. Generally, output voltages of a voltage-source PWM inverter contain high-level switching frequency harmonies due to the PWM operation, while output currents are kept nearly sinusoidal. High-level harmonics contained in output voltages of a voltage-source inverter cause acoustic noises, iron losses and electromagnetic interferences. An LC filter was used to suppress the switching frequency harmonics; however, there is a danger of resonance in the LC filter. Accordingly, to remove harmonics of the LC filter resonance frequency, the authors add a voltage feedback loop. A conventional system can operate without difficulty within 50 Hz. However, with accompanying increases in the output frequency, output voltages are largely delayed and reduced by a high-pass filter inserted in the feedback loop. These problems are caused by a high-pass filter inserted in the feedback loop. Accompanied by the inverter output frequency, a high-pass filter cannot remove the fundamental component perfectly. As a result, a small fundamental component is fed back, which causes a delay and decrease in output voltage. This paper proposes the application of Coordinate transformation to a high-pass filter inserted in the feedback loop. As a result, the proposed system realizes an ideal filter which can suppress fundamental frequency components perfectly, and improves the characteristics of the inverter with sinusoidal voltage outputs greatly. Theoretical analyses, simulations and experiments showed satisfactory results. © 1997 Scripta Technica, Inc. Electr Eng Jpn, 118 (4): 94–102, 1997

  • variable frequency inverter with sinusoidal voltage outputs using Rotating Coordinate transformation
    Ieej Transactions on Industry Applications, 1995
    Co-Authors: Hirotami Nakano, Masayuki Jibiki, Akira Nabae, Yositsugu Okamura
    Abstract:

    An ideal inverter should have sinusoidal voltage and current outputs. Generally, output voltages of a voltage-source PWM inverter contain high level switching frequency harmonics due to the PWM operation, while output currents are kept nearly sinusoidal. High level harmonics contained in output voltages of a voltage-source inverter cause acoustic noises, iron losses and electromagnetic interferences. An L-C filter was used to suppress the switching frequency harmonics; however, there is reason to fear resonance in the L-C filter. Accordingly, in order to remove harmonics of the L-C filter resonance frequency, the authors add a voltage feed-back loop.A conventional system can operate without difficulty within 50Hz. However, with accompanying increases of the output frequency, output voltages are largely delayed and reduced by a high-pass filter inserted in the feed-back loop. These problems are caused by a high-pass filter inserted in the feed-back loop. Accompanied by the inverter output frequency, a high-pass filter can not remove the fundamental component perfectly. As the result, a small fundamental component is fed back, which causes a delay and decrease of output voltage.In this paper, the authors propose to apply Coordinate transformation to a high-pass filter inserted in the feed-back loop. As a result, the proposed system has realized the ideal filter which can suppress fundamental frequency components perfectly, and characteristics of the inverter with sinusoidal voltage outputs are greatly improved. And theoretical analysis, simulations and experiments showed satisfactory results.

  • A novel control strategy of the inverter with sinusoidal voltage and current outputs
    Proceedings of 1994 Power Electronics Specialist Conference - PESC'94, 1
    Co-Authors: Akira Nabae, H. Nakano, Yositsugu Okamura
    Abstract:

    The authors have previously proposed a novel inverter with sinusoidal, voltage and current outputs (1992). In the novel inverter, the design of a high-pass filter inserted in the feedback circuit largely influences the output waveforms. In this paper, the authors show a solution to the design problem of the high-pass filter, applying a Rotating Coordinate transformation. >

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