研究者詳細 - 道木　慎二

論文 - 道木　慎二

分割表示 283 件中 41 - 60 件目／全件表示 >>

Stability Improvement Method of Position Sensor less Control for Single Inverter Dual Parallel IPMSMs Drive System by Using Signal Injection 査読有り国際誌

Park C., Doki S.

2022 International Power Electronics Conference, IPEC-Himeji 2022-ECCE Asia 頁： 583 - 588 2022年

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：2022 International Power Electronics Conference, IPEC-Himeji 2022-ECCE Asia

This paper proposes a method to drive a single-inverter dual interior permanent magnet synchronous motor (IPMSM) system by using signal injection. Considerable research has been performed to decrease the size and cost of dual motor drive systems by driving two synchronous motors with one inverter. In general, the control is implemented considering one of the two motors. Such systems may become unstable because of the mechanical/electrical resonance occurring in the uncontrolled motor. Therefore, methods to suppress this resonance have been established. Notably, resonance control is challenging to implement at low speeds because the phase of the rotor with sensorless control cannot be easily estimated. To address this problem, signal injection and signal processing methods for such systems was established in this study.

DOI： 10.23919/IPEC-Himeji2022-ECCE53331.2022.9806970

Decoupled Current Vector Control of Dual Three Phase PMSM Drives with Two Independent Micro Control Units Utilizing Current Observer 査読有り国際誌

Wang, S; Doki, S; Suzuki, T; Fujii, K; Hayashi, Y

IEEJ JOURNAL OF INDUSTRY APPLICATIONS 11 巻 ( 6 ) 頁： 779 - 789 2022年

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：IEEJ Journal of Industry Applications

This paper presents a coupling estimation based decoupled current vector control scheme for current control of a Dual Three Phase (DTP) Surface Permanent Magnet Synchronous Motor (SPMSM) drive with two micro control units (MCUs), to solve its inherent magnetic coupling issue. Aiming for an enhanced fault tolerance, the SPMSM drive utilized is a redundant and modular system composed of two subsystems in terms of three-phase inverters, sensing, and controllers, with respect to each winding set in the DTP SPMSM. The current of each winding set along with the rotor position is separately detected and applied for control by individually assigned MCU. This comprehensive modularity prevents interference between subsystems in local fault conditions, thus improving the fault tolerance capability. However, the magnetic coupling existing between the winding sets would deteriorate the performance and even cause instability in the whole system without proper decoupling control. Previous studies adopted communication between MCUs for real time current sampling sharing demanded by decoupling control. Nevertheless, communication bandwidth becomes a limiting factor of system design. Some general communication approaches would not satisfy the current sharing requirement of decoupling control for implementation. To eliminate this undesirable limit, a novel decoupled current vector control that utilizes a current observer to estimate the relevant magnetic coupling between winding sets is proposed in this paper. As validated from the experiment results, the proposed decoupled control scheme is able to decouple the system for dynamic improvement so that modularity of the drive can be achieved without communication, leading to an eventual improvement in fault tolerance capability.

DOI： 10.1541/ieejjia.22000073

Control Method of Dual Parallel Surface-Mounted Permanent-Magnet Synchronous Motor Systems with Different Parameters Using Single Inverter 査読有り国際誌

Park C., Doki S.

2022 IEEE Energy Conversion Congress and Exposition, ECCE 2022 2022年

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：2022 IEEE Energy Conversion Congress and Exposition, ECCE 2022

This paper presents a control method for different dual-parallel-SPMSMs systems with a single inverter. Disturbance causes a torque difference between the two motors when one inverter drives two SPMSMs. This may lead to the motor's mechanical and electrical resonance. Several damping control methods have been proposed to suppress this resonance. However, such methods consider that the parameters of the two motors are identical. When one inverter controls two motors with different parameters, the damping control performance deteriorates. Additionally, the motor's resonance sound and motor current ripple increase. To solve these problems, this paper proposes a control method for dual parallel Surface Permanent Magnet Synchronous Motor (SPMSM) drive systems with a single inverter.

DOI： 10.1109/ECCE50734.2022.9947789

Modeling Fabric-Type Actuator Using Point Clouds by Deep Learning 査読有り国際誌

Peng, YH; Yamaguchi, H; Funabora, Y; Doki, S

IEEE ACCESS 10 巻頁： 94363 - 94375 2022年

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：IEEE Access

Flexible actuators are popular in the consumer and medical fields because of their flexibility and compliance. However, they are typically difficult to model because of their viscoelasticity and nonlinearity. This letter proposes a method for correcting the deformation of the simulated flexible robots to make it similar to the deformation of real robots using point clouds by deep learning. Long short-term memory (LSTM) can simulate the next frame of actuator deformation from the previous frames of deformations. In this study, we presented the robots with four different muscle structures. We found that using an encoder-LSTM-decoder network can improve the similarity between the deformation of a learned muscle structure and the real deformation and is also effective in correcting the deformation of the unlearned structures. Our correction method reduced the average Chamfer distance of the simulated point clouds of the basic-type structure actuator from 15.89 to 7.81. This research can provide a new concept for future flexible robot modeling using point clouds.

DOI： 10.1109/ACCESS.2022.3204652

Multisensor robust localization in various environment with correlation checking test 査読有り国際誌

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

ROBOMECH Journal 8 巻 ( 1 ) 2021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：ROBOMECH Journal

Probabilistic localization based on Bayesian theory has been researched as a sensor fusion method to improve the robustness of localization. Pieces of position information, generated by sensors’ observation models with consideration for noises, are fused according to Bayesian theory. However, having large noises not considered in their observation models, the sensors output erroneous position information; thus, the fusion result has a significant error, even when the other sensors output correct ones. In this research, we have proposed a sensor fusion system with a relative correlation checking test to realize robust localization. Pieces of erroneous position information, biased against others and having a negative correlation with others, are detected and excluded in our proposed system by checking their correlation between all of them. The purpose of this paper is to evaluate the robustness of our fusion system by conducting recursive localization experiments in various environments.

DOI： 10.1186/s40648-021-00190-9

Effects of Inductance Error on Position Sensorless Control of Synchronous Reluctance Motor at Low Speeds Using High-Frequency Current Controller 査読有り国際誌

Hayashi T., Kataoka K., Tomita M., Hasegawa M., Doki S.

IEACon 2021 - 2021 IEEE Industrial Electronics and Applications Conference 頁： 91 - 96 2021年11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：IEACon 2021 - 2021 IEEE Industrial Electronics and Applications Conference

Synchronous reluctance motors (SynRMs) have attracted attention for various applications because they have no magnets and rotor windings. Thus, various methods for rotor position sensorless control of SynRMs at low speeds have been proposed. Similarly, we previously introduced a method for rotor position sensorless control of SynRMs at very low speeds. The proposed control method superimposes a high-frequency current with a small constant amplitude using a high-frequency current control system. The q-axis inductance of the SynRM considerably changes according to the load. In this paper, we show that the rotor position estimation error converges even under a large error between the predefined and real settings of the q-axis inductance of the SynRM model for position estimation when using the proposed method. Experimental results confirm that the proposed method achieves robust rotor position sensorless control against q-axis inductance variations even at very low speeds.

DOI： 10.1109/IEACon51066.2021.9654631

Capacitor Current Reduction of Double Three Phase PMSM Drive System by Real-time MPC 査読有り国際誌

Suzuki A., Doki S., Imai K., Aoki Y., Kondo K.

IECON Proceedings (Industrial Electronics Conference) 2021-October 巻 2021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：IECON Proceedings (Industrial Electronics Conference)

This paper proposes a capacitor current reduction method using real-time model predictive control (MPC) for a double three-phase permanent magnet synchronous motor (DTPPMSM) drive system. Capacitor current reduction for volume minimization of DTP-PMSM drive system is important issue. Optimizing switching timings by MPC is promising approach. However, it is difficult to implement ideal MPC in a real system because it requires a huge amount of calculation to predict the capacitor current. In this paper, we propose a new method that is possible to search optimal switching timing for reducing the capacitor current by using the MPC, whose calculation amount can be implemented in real-time. This paper shows the possibility of realizing an capacitor current reduction method with high control performance by reducing the amount of computation for MPC.

DOI： 10.1109/IECON48115.2021.9589070

AR Image Presentation Based on Sensor Data for Operator Support in Remote Car Driving : -Aiming for Remote Car Driving 査読有り国際誌

Doki K., Suzuki K., Yano Y., Funabora Y., Doki S.

2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021 頁： 774 - 776 2021年10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：2021 IEEE 10th Global Conference on Consumer Electronics, GCCE 2021

In order to realize a remote car driving in an emergency situation or complicated environment, we propose a new method for operator support in teleoperation in this paper. In the proposed teleoperation system, it is supposed that there are two communication lines between an operator and the target remote driving car. The one is called as the main line, in which large data like image or sound are transferred allowing a large delay. The other is called as the subline, in which small data like emergency signals are transferred with a small delay. In the proposed method, an AR image is presented to an operator, in which 3D objects superimposed on a real image are generated using sensor data transferred through the subline. Due to the 3D objects with a small delay on a real image with a large delay, the operator can safely control the target car even if the image has an enormous delay caused by the bad communication status.

DOI： 10.1109/GCCE53005.2021.9622070

A Novel Decoupling Control of Dual Three Phase Drive with Two Independent Microprocessors Utilizing Current Observer 査読有り国際共著

Shen Wang, Kentaro Kitamura, Shinji Doki, Takashi Suzuki

Proceedings of the applied power electronics conference (APEC 2021) 2021年6月

状況と行動の因果関係に着目した人間の行動モデル化手法 HSMMの適用による時系列データの変化速度を考慮したモデル化査読有り

道木加絵, 橋本幸二郎, 舟洞佑記, 道木慎二, 鳥井昭宏

電気学会論文誌C（電子・情報・システム部門誌） 141 巻 ( 2 ) 頁： 193 - 204 2021年2月

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEJ Transactions on Electronics, Information and Systems

We have proposed a modeling method of human actions based on the causality between a situation and an action. In this method, a human action rule is expressed by an If-the-rule style, assumed that a person changes his current action to the next one according to the situation around him. In the previous method, a human action and a situation in a human action rule is modeled with a Hidden Markov Model(HMM). HMM is one of powerful tools for modeling time series data, but it ignores the change speed of time series data. In addition, time series data on human actions and situations are classified by Continuous Dynamic Programming. This means that two types of criteria should be set for modeling. In order to overcome these problems, we propose a new modeling method of human actions with Hidden Semi-Markov Model(HSMM) in this paper. In the proposed method, both clustering and modeling of time series data are executed with HSMM. The usefulness of the proposed method is discussed through some modeling results of human actions on operating a radio-controlled vehicle.

DOI： 10.1541/ieejeiss.141.193

AR video presentation using 3D LiDAR information for operator support in mobile robot teleoperation 査読有り国際共著国際誌

Doki K., Suzuki K., Torii A., Mototani S., Funabora Y., Doki S.

SAMI 2021 - IEEE 19th World Symposium on Applied Machine Intelligence and Informatics, Proceedings 頁： 59 - 64 2021年1月

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：SAMI 2021 - IEEE 19th World Symposium on Applied Machine Intelligence and Informatics, Proceedings

In this paper, we propose a new teleoperation system of a mobile robot using Augmented Reality(AR) based on 3D LiDAR information for operator support. In the proposed system, an 360-degree camera is equipped with a robot which works in a remote place controlled by an operator, and the captured 360-degree image is displayed to the head mounted display put on the head of the operator. The operator can smoothly control the robot watching what he needs for his task by turning his head. In addition, the provided image around the robot has no blind spot because of the 360-degree image. However, the data size of the 360-degree image is enormous and it causes a large transfer delay or dropped frames which adversely influence the operator performance. In order to solve this problem, it is proposed that an AR image is actually provided to the operator, in which objects generated based on 3D LiDAR information are superimposed on the 360-degree image as AR objects. In this paper, the usefulness of the proposed method is shown through the experimental results on parking the robot remotely.

DOI： 10.1109/SAMI50585.2021.9378687

Fault Tolerant Asymmetrical Six Phase Drive Controlled by Two Microprocessors 査読有り

Shen Wang, Kentaro Kitamura , Shinji Doki, Takashi Suzuki, Norihisa Ito, Yoshitaka Hayashi

Proceedings of The 5th International Electric Vehicle Technology Conference EVTeC 2021 2021年

Control Method that Reduces the High Harmonic in the Overmodulation Drive of the Dual Winding Motor during Voltage Supply Unbalance 査読有り国際誌

Suzuki, T; Doki, S

IEEJ JOURNAL OF INDUSTRY APPLICATIONS 10 巻 ( 6 ) 頁： 770 - 778 2021年

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：IEEJ Journal of Industry Applications

More reliable motor drive systems are expected in the realization of automated driving. The redundant motor drive system with two voltage supplies, two inverters, and a dual winding motor is one of the strong candidates since the two systems that construct the motor drive system are electrically independent. The dual winding motor has a characteristic of cancelling the 6th harmonic produced in the overmodulation drive. However, it loses its characteristic when there is a voltage difference in the two voltage supplies. In this paper, it is proposed to control only the sum of the current during the overmodulation to maintain the characteristic of cancellation even if there is voltage difference in the two voltage supplies. Furthermore, the current difference of the two windings is controlled in the sinusoidal wave region to suppress the deviation of currents and turned off during the overmodulation to reduce 6th harmonic. The maintained characteristic during voltage supply unbalance is confirmed with the experiment.

DOI： 10.1541/ieejjia.21001387

Model Predictive Current Control of PMSM drives for Achieving both Fast Transient Response and Ripple Suppression 査読有り国際共著国際誌

Kawai Hiroaki, Cordier Julien, Kennel Ralph, Doki Shinji

IECON 2021 - 47TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY 2021年

Maximum Torque Minimum Peak Phase Current of a Dual Winding Interior Permanent Magnet Synchronous Motor 査読有り国際誌

Suzuki, T; Otake, H; Doki, S

IEEJ JOURNAL OF INDUSTRY APPLICATIONS 10 巻 ( 1 ) 頁： 11 - 17 2021年

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：IEEJ Journal of Industry Applications

This paper presents an analysis of the maximum torque minimum peak phase current of the dual winding interior permanent magnet motor. Reducing the current contributes to small motor size. The peak phase current to generate the torque is reduced by the cancelation of the torque ripple generated by the two windings. The high harmonic current that does not generate torque ripple in the dual winding motor is analyzed. With the high harmonic current, the minimum peak phase current to generate a predetermined torque is calculated. The experiments were conducted to confirm the reduction of the peak phase current without increasing the torque ripple.

DOI： 10.1541/ieejjia.20000098

Control Method that Reduces the High Harmonic in Overmodulation Drive of Dual Winding Motor under Condition of Voltage Supplies Unbalance 査読有り

Suzuki T., Doki S.

23rd International Conference on Electrical Machines and Systems, ICEMS 2020 頁： 918 - 923 2020年11月

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：23rd International Conference on Electrical Machines and Systems, ICEMS 2020

Looking toward the autonomous driving, redundant motor drive system with two voltage supplies, two inverters, and a dual winding motor is reported recently. The dual winding motor has a characteristic of cancelling the 6th harmonic produced in overmodulation drive. However, it loses its characteristic when there is voltage difference in the two voltage supplies. In this report, it is shown that characteristics of cancellation is maintained even if there is voltage difference in the two voltage supplies when sum of the current is controlled. The maintained characteristics is confirmed with the simulation.

DOI： 10.23919/ICEMS50442.2020.9290790

The improvement of initial rotor position estimation method with Extended-EMF available at overall speed range by exciting with speed and signal injection 査読有り

Kozakura T., Nimura T., Doki S.

23rd International Conference on Electrical Machines and Systems, ICEMS 2020 頁： 252 - 257 2020年11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：23rd International Conference on Electrical Machines and Systems, ICEMS 2020

We have proposed position sensorless control of PMSMs with Extended-ElectroMotive Force(EEMF). It is available at overall speed with a single estimator by exciting with speed and signal injection. Therefore, the configuration is simplified, and acceleration/deceleration rate is improved because a controller is not switched to another. Additionally, Extended-EMF also available for the start-up method which uses principle of magnetic saturation. In this paper, we propose the new initial rotor position estimation method using Extended-EMF.

DOI： 10.23919/ICEMS50442.2020.9291103

Examination of Magnetization Curve Model for Torque Ripple Reduction of IPMSMs to Compensate for Magnetic Characteristics 査読有り

Akatsuka H., Hasegawa M., Doki S.

23rd International Conference on Electrical Machines and Systems, ICEMS 2020 頁： 240 - 245 2020年11月

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：23rd International Conference on Electrical Machines and Systems, ICEMS 2020

This paper evaluates a torque ripple reduction performance of IPMSMs by model selection of magnetization curves to be compensated for magnetic characteristics. A non-linearity compensation method for magnetic characteristics has been proposed, which is based on simple approximations of the magnetization curve. Therefore, an approximation of the magnetic characteristics suitable for torque ripple reduction was studied and the performance of the proposed method was experimentally evaluated.

DOI： 10.23919/ICEMS50442.2020.9290817

Examination of Current Sensor Fail-Safe of PMSM current control system which using current and position state estimation techniques 査読有り

Hori S., Doki S.

23rd International Conference on Electrical Machines and Systems, ICEMS 2020 頁： 694 - 698 2020年11月

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：23rd International Conference on Electrical Machines and Systems, ICEMS 2020

PMSM is increasingly used in applications requiring safety, such as electric vehicles. However, in a typical PMSM drive system, just one failure of the sensors causes whole system failure. Then it is focused on the potential to improve the system redundancy by making the sensing system redundant In this paper, we report that the control of a current sensing system made redundant by state estimation techniques can be continued even in the event of a phase current sensor failure.

DOI： 10.23919/ICEMS50442.2020.9290924

A Novel Decoupling Control Scheme for Dual Three Phase Motors 査読有り国際誌

Wang S., Imai K., Doki S.

23rd International Conference on Electrical Machines and Systems, ICEMS 2020 頁： 1225 - 1229 2020年11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：23rd International Conference on Electrical Machines and Systems, ICEMS 2020

A novel decoupling control scheme for multiphase machines with multiple three-phase winding sets, for instance, the Dual Three Phase (DTP) machines, is proposed in this paper. This motor has two sets of three phase windings that implemented spatially with 30 electrical degrees. Vector Space Decomposition (VSD) frame and Multiple Stator (MS) frame are well known for its vector control. VSD frame has been applied in many applications due to its clear harmonics mapping and good extensions to multiphase machines. On the other hand, MS frame is more intuitive as to treat two winding sets individually so that the accumulated techniques of three-phase machines can be applied directly. However, this approach was not adopted in high performance drives because its decoupling control methodology is not sufficiently developed to solve its inherent magnetic coupling issue. Therefore, this paper proposed a decoupling control scheme to improve dynamic performance of MS frame, and performance has been evaluated by experimental results.

DOI： 10.23919/ICEMS50442.2020.9290999

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