研究者詳細 - 道木　慎二

論文 - 道木　慎二

分割表示 266 件中 101 - 120 件目／全件表示 >>

Evaluation in real world of the measuring position determination for visual inspection using UAV 査読有り

Asa K., Funabora Y., Doki S., Doki K.

Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society 頁： 2711 - 2716 2018年12月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

This paper evaluates our measuring position determination method of Unmanned Aerial Vehicles (UAVs) for automatic visual inspection through an experimentation in real world. This method is under the assumption that the 3D model of a target facility, required accuracy of gathering data and specs of instruments are given. The triangular polygons for shape description of the 3D model are reconstructed for measurement and the measuring positions: the waypoints that an UAV travels to gather the accurate data of the target facility efficiently are calculated systematically. For basic evaluation of this method, we conducted an experimentation in real world. The measuring positions were calculated for an actual target and a camera. An experimenter brought a camera to the measuring positions and gathered image data. This experimentation result showed the effectivity of the method.

DOI： 10.1109/IECON.2018.8591270

Flight path planning of multiple UAVs for robust localization near infrastructure facilities 査読有り国際誌

Maeda K., Doki S., Funabora Y., Doki K.

Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society 頁： 2522 - 2527 2018年12月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

To realize automatic inspections for infrastructure facilities by an Unmanned Aerial Vehicle (UAV), improvement of localization performance is needed. Especially, automatic flight does not work in environments near facilities such as under the bridge because GNSS signals does not reach the UAV. We research a localization system using subsidiary UAVs that assist localization of an inspection UAV (main UAV). In this system, the positioning of the subsidiary UAVs is important to correctly complement the position information of the main UAV. In this paper, as the first stage of research, we consider a path of a single subsidiary UAV using preliminary information: the 3D geometrical data of a target facility, the inspection path of the main UAV, and the arrangement of GNSS satellites during the inspection. A simple simulation shows that the localization of the main UAV does not collapse through the whole path under the evaluation of the GNSS positioning precision of each UAV.

DOI： 10.1109/IECON.2018.8592710

Prototype of Wearable Robot with Tactile Sensor Measurable Contact Force Distribution with User 査読有り国際誌

Ito D., Funabora Y., Doki S., Doki K.

2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018 頁： 960 - 965 2018年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018

To improve safety of wearable assist robots, the authors make a prototype wearable robot suitable for the contact force distribution feedback control system. Because wearable assist robots contact the user and apply force directly, ensuring safety of the user is most important. In order to improve safety from the aspect of control, a contact force distribution feedback control system has been researched. The system controls contact force between the user and a robot directly. Although the system validated in principal with a simple robot model on simulation, validation with an actual robot has not done yet. There are no wearable robots measurable the contact force distribution with user. In order to measure the contact force distribution for the control system, two points: Measurement reproducibility and measurement as distribution, are necessary. In this paper, a prototype robot that satisfies the two points is made. The robot is confirmed to have the two points necessary for the system by measurement experiment.

DOI： 10.1109/ICARCV.2018.8581233

Initial Position Error Convergence of Position Sensorless Control of PMSM by using Extended Electromotive Force Excited by Signal Injection 査読有り国際誌

Nimura T., Kondo S., Doki S., Tomita M.

2018 20th European Conference on Power Electronics and Applications, EPE 2018 ECCE Europe 2018年10月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2018 20th European Conference on Power Electronics and Applications, EPE 2018 ECCE Europe

This paper discusses the initial position error convergence of position sensorless control of Permanent Magnet Synchronous Motor by using Extended Electromotive Force excited by signal injection when motor parameter error exists, and verify that by experimental results.

Position Sensorless Control based on Pattern Matching Method using Multiple Template Data Sets to Improve Position Control Error 査読有り国際誌

Song H., Doki S.

2018 20th European Conference on Power Electronics and Applications, EPE 2018 ECCE Europe 2018年10月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：2018 20th European Conference on Power Electronics and Applications, EPE 2018 ECCE Europe

This paper presents a position sensorless control scheme based on pattern matching method for high power density Interior Permanent Magnet Synchronous Motors (IPMSMs) that have non-sinusoidal inductance spatial distribution. The pattern matching method achieves the closed loop position sensorless control under heavy load condition. However, atypical position control control errors are generated. To improve the position control errors, a new pattern matching method is proposed in this paper. The proposed method estimates the rotor position by using multiple template data sets which created while changing a current phase. Through experimental results, the effectiveness of the proposed method is presented.

Improvement in control performance of PMSMs by deactivation of antiwindup control in the overmodulation range of an inverter 査読有り国際誌

Nakayama Y., Doki S.

2018 20th European Conference on Power Electronics and Applications, EPE 2018 ECCE Europe 2018年10月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2018 20th European Conference on Power Electronics and Applications, EPE 2018 ECCE Europe

This paper proposes a current control system which deactivates an antiwindup control for improving the control performance of PMSMs in the overmodulation region of an inverter. Control performance of PMSMs cannot be improved appropriately without countermeasure against harmonic components which are generated in this region. Deactivating of antiwindup control can be a countermeasure against these harmonic components, however deterioration of current responses due to windup phenomenon is unavoidable. Proposed control system reduces the deterioration of torque response due to windup phenomenon by deactivating the antiwindup control only in the steady state in the overmodulation region. Proposed control system have confirmed that it can achieve fast torque response and high power operation by simple algorithm without motor parameters.

Maximum Torque Control Reference Frame Based on a Torque Map for IPMSMs with Large Inductance Variation 査読有り国際誌

Ohta K., Ohnuma T., Doki S.

2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018 頁： 1223 - 1227 2018年10月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018

In this paper, we summarize a method of applying a maximum torque control reference frame to IPMSMs with large influence of magnetic saturation. Conventionally, a formula based on the torque equation with motor parameters of IPMSMs has been used to calculate the phase angle of the maximum torque control reference frame. However, the equation is greatly affected by inductance variation due to magnetic saturation. Therefore, we propose the phase angle determination method based on a torque map. The method is not affected by inductance variation because it does not need motor parameters directly. Performance improvement is confirmed by simulation and actual machine experiments.

DOI： 10.23919/IPEC.2018.8507807

PMSM Model Discretization in Consideration of Park Transformation for Current Control System 査読有り国際誌

Inoue M., Doki S.

2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018 頁： 1228 - 1233 2018年10月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018

This paper describes a new discrete-time PMSM model for discrete design of current vector control system. Discrete design of current control system is a via discrete-time PMSM model. This controller minimizes dis-cretization error and ensure perfect control performance at sampling point. Conventional discretization method presume park transformation runs continuously. When sampling frequency is too lower than fundamental electric frequency, this assumption is invalid and control performance will degrade by modeling error. In this paper, authors propose the method of PMSM model discretization in consideration of discrete-time park transformation. Simulation results show the effectiveness of proposed model.

DOI： 10.23919/IPEC.2018.8507948

New Search Algorithm of Model Predictive Control to Reducing Calculation Amount for Improving Steady Current Control Performance 査読有り国際誌

Shimaoka M., Doki S.

2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018 頁： 1747 - 1751 2018年10月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018

We have proposed Model predictive Control which can manage the voltage phase resolution. This method decides the optimum permutation of voltage vector by predicting current behaviors for all permutations and evaluating behaviors. Our method can realize same steady current control performance of FOC, however, there is the issue which calculation amount become very huge. In this paper, we propose new search algorithm of our MPC which can reduce calculation amount. In Propose algorithm, we take a notice that control set of our MPC can be classified by type and number of the voltage vector. Calculation amount is reduced by selecting search space depending on operation points. We show that new algorithm can be greatly reduced calculation amount while keeping steady current control performance.

DOI： 10.23919/IPEC.2018.8507886

The Multiple Degree of Freedom based Neutral Point Potential Control of Three Level Neutral Point Clamped Converters 査読有り国際誌

Guan B., Doki S.

2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018 頁： 1032 - 1037 2018年10月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018

Although the virtual space PWM and the dual wave modulation (DWM) method can eliminate the low frequency neutral point potential (NPP) fluctuation, which appears in some NPP control based on the nearest three vector PWM essentially, they will increase the switching frequency and fade the control ability of the NPP drift problem. In this paper, a novel multiple degree of freedom based NPP control with the strong control ability of low frequency NPP fluctuation and NPP drift problem is proposed for three level converter. The traditional DWM method sacrifices many control domains of neutral point current (io) to keep io zero, by setting the zero sequence voltage to an appropriate value. On the contrary, the proposed method introduces three degree of freedom to control the NPP, which makes it have the largest NPP control domains. The comparison on the control domains of io for DMW method and proposed method is discussed at first. Then, some simulation are also carried out to verify the correctness and effectiveness of proposed method.

DOI： 10.23919/IPEC.2018.8507804

High Stability V/f Control of PMSM Using State Feedback Control Based on n-t Coordinate System 査読有り国際誌

Matsuki Y., Doki S.

2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018 頁： 2224 - 2228 2018年10月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018

This paper proposes a new V/f control method for permanent magnetic synchronous motors (PMSM) without position sensor. The proposed method uses state feedback control based on a n-t coordinate system. The t-axis is a tangent line of a constant voltage ellipse, and the n-axis is a normal line of the ellipse. The t-axis current is utilized to keep the system poles in the stable plane in low speed of motor and to achieve high stability.

DOI： 10.23919/IPEC.2018.8507624

Majority rule sensor fusion system with particle filter for robust robot localization 査読有り国際誌

Ohashi N., Funabora Y., Doki S., Doki K.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018-July 巻頁： 1106 - 1111 2018年8月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

This paper discusses a robust localization method that uses particle filtering. A particle filter can suppress the influence of temporary noise on a sensor based on past sensor data. However, localization fails when a sensor is affected by noise that lasts for several minutes even when using a particle filter. We have previously proposed a majority rule-based sensor fusion system that removes sensors affected by such constant noise. To date, we have conducted some experiments to evaluate the effectiveness of this system without particle filter. In this paper, we experimentally confirm the effectiveness of this system with particle filtering. The results show that the proposed system reduces position errors in part of the environment.

DOI： 10.1109/AIM.2018.8452415

Study on an Evaluation Method of Coincident Timing Skill of Driver Based on Driving Behavior Model of Brake Operation 査読有り国際誌

Hashimoto K., Doki K., Doki S.

IEEE International Symposium on Industrial Electronics 2018-June 巻頁： 782 - 787 2018年8月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE International Symposium on Industrial Electronics

Traffic accidents caused by elderly drivers have become an important social issue in Japan. The primary factor of traffic accidents by elderly drivers is a reduction in their driving skill. In this case, in order to assist operation of driver whose driving skill is reduced, the system must be able to evaluate his driving behavior skill. In this paper, we propose a evaluation method of driver's driving skill. Here, coincident timing skill is focused on. A driver decides an execution timing of his operation based on prediction of time series change of situation around him. When execution timing of operation of the driver has the widely variability in spite of the same driving scene, it is considered that he have a reduced ability to drive vehicle. This magnitude of variability of execution timing of operation of driver is defined as coincident timing skill of the driver. In this paper, in order to evaluate this coincident timing skill, a driving behavior modeling technique is applied. Driving behavior model is used to predict driver's operation. And we have proposed a driving behavior modeling method to predict driver's operation. In our method, the execution timing of driver's operation is modeled by probability model. Therefore, our model has the potential to evaluate the driver's coincident timing skill by analyzing this probability model. According to the above viewpoint, we propose a evaluation method of coincident timing skill based on our driving behavior model. In the experiment, the driving behavior models of brake operation with difference execution timing are generated. Then, the results that the difference of each coincident timing skills is evaluated quantitatively based on the proposed method are shown.

DOI： 10.1109/ISIE.2018.8433732

The Voltage Phase Control Strategy for Six-Step Operation in SPMSM Drives Considering the 6/12-Order Torque Ripple 査読有り国際誌

Guan B., Doki S.

ITEC Asia-Pacific 2018 - 2018 IEEE Transportation Electrification Conference and Expo, Asia-Pacific: E-Mobility: A Journey from Now and Beyond 2018年8月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：ITEC Asia-Pacific 2018 - 2018 IEEE Transportation Electrification Conference and Expo, Asia-Pacific: E-Mobility: A Journey from Now and Beyond

In order to reduce switching frequency and achieve maximum utilization rate of DC-link voltage, traditional voltage phase controller realizes six-step operation via an integrator in SPMSM drives. However, it is not able to achieve a good torque performance in steady state and transient state at the same time, due to the integral saturation problem and bandwidth limit of the integrator. By analyzing the effects of the 6/12-order torque ripple, this paper claims that the 6/12-order torque ripple derived from six-step operation directly limits the bandwidth of control system. Thus, a model-based voltage phase controller is proposed in this paper to replace the integrator. The proposed method can obtain a faster torque response in transient state as well as a good torque performance in steady state. Finally, some simulation results are also given to verify the correctness and feasibility of proposed method.

DOI： 10.1109/ITEC-AP.2018.8432597

A neutral point potential control for three-level neutral-point-clamped converters based on the search optimization method of the two degrees of freedom 査読有り国際誌

Guan B., Doki S.

IEEJ Transactions on Electrical and Electronic Engineering 13 巻 ( 8 ) 頁： 1196 - 1207 2018年8月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEJ Transactions on Electrical and Electronic Engineering

To realize the neutral point potential (NPP) control for three-level neutral-point-clamped (TL-NPC) converters, a novel NPP control based on the search optimization method of the two degrees of freedom is proposed in this paper. It can overcome the low-frequency NPP fluctuation problem that appears under nearest-three-vector pulse width modulation (PWM)-based NPP control under some operating conditions. Although the traditional dual modulation wave method can also solve the low-frequency NPP problem, the zero-sequence voltage is limited under this modulation. It decreases the control domain of the neutral point current (io), which causes serious NPP drift problem especially in some special operating conditions, such as a long dead time, a strong asymmetrical load, or serious switch device inconsistency. The proposed method can expand the control domain of io by defining a new degree of freedom, thus lifting the limits of the zero-sequence voltage and searching for the optimal two degrees of freedom. The wider control domain of io corresponds to a stronger NPP control ability. Experiments are carried out finally to prove the merits of the proposed method, by comparing the switching frequency, the NPP control speed, and the output performance. © 2018 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

DOI： 10.1002/tee.22683

A robust neutral point potential control for single phase three level rectifier based on the multiple degree of freedom 査読有り

Guan B.

Proceedings of the IEEE International Conference on Industrial Technology 2018-February 巻頁： 606 - 611 2018年4月

Filter setting for improving the current control performance of IPMSMs in overmodulation region of inverter 査読有り

Nakayama Y., Doki S., Matsumoto A., Hasegawa M.

Proceedings of the International Conference on Power Electronics and Drive Systems 2017- 巻頁： 703 - 708 2018年2月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：Proceedings of the International Conference on Power Electronics and Drive Systems

This paper presents the filter setting for improving the current control performance of IPMSMs in overmodulation region of inverter. To operate IPMSMs in the overmodulation region, it is necessary to deal with harmonic components. Generally, harmonics suppression method based on harmonics current model is utilized to deal with these components, however, it requires accurate motor parameters. In this paper, Band Stop Filter is utilized to suppress the harmonic components, and weight averaging method is applied to improve the current responses, without any motor parameter. Simulation results are demonstrated to show the current control performance and the operation range of proposed method.

DOI： 10.1109/PEDS.2017.8289245

Mathmatical models on extended electromotive force exited by high frequency signal injection and its robustness for position estimation of PMSM 査読有り国際誌

Kondo S., Doki S., Tomita M.

Proceedings of the International Conference on Power Electronics and Drive Systems 2017- 巻頁： 172 - 177 2018年2月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：Proceedings of the International Conference on Power Electronics and Drive Systems

The Extended Electromotive Force(EEMF) has a high potential because that the model enables position estimation by utilizing not only electromotive force but also saliency of inductance. In particular, the EEMF consists of two components, excited by rotor speed and high-frequency signal injection. The characteristic of EEMF excited by speed has been proposed sufficiently. This paper describes analysis of robustness of parameter error in two types of Extended Electromotive Force (EEMF) exited by high frequency signal injection for position sensorless control. Finally, formula evaluation indicates that each EEMF model has different robustness of parameter error.

DOI： 10.1109/PEDS.2017.8289235

Contact force distribution predictive control system for wearable robot with tactile sensors 査読有り国際誌

Sato A., Funabora Y., Doki S., Doki K.

2017 Asian Control Conference, ASCC 2017 2018-January 巻頁： 1373 - 1378 2018年2月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：2017 Asian Control Conference, ASCC 2017

The authors aim for safe assistance by feedback control of the contact force in the wearable robot. Securing safety for users is of utmost importance for wearable robots. For safe assistance of complex body parts such as the torso, the robot is desirable to be able to sense the contact force: the force applied to the human body by the robot. The authors have been studying robots sensing contact force distribution from tactile sensors on the robot surface as pressure distribution. The robot is controlled to reduce superfluous contact force. In this paper, a new control method, contact force distribution predictive control system, is proposed. This method predicts the contact force distribution of the next step from the current link positions and contact force distribution of the robot. The robot is controlled so as to realize the optimum contact force distribution. The proposed method is compared with the conventional control based on joint torque and the effectiveness of our method is verified.

DOI： 10.1109/ASCC.2017.8287372

Study on the Model Structure of Human Machine Operation to Evaluate a Coincident Timing Skill 査読有り

Hashimoto K.

Electronics and Communications in Japan 101 巻 ( 2 ) 頁： 74 - 86 2018年2月

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