Packet‐based feedback control of electrical drive and its application to trajectory tracking of manipulator. (11th February 2019)

• Record Type: Journal Article
• Authors: Mochiyama, Shiu; Hikihara, Takashi
• Is Part Of: International journal of circuit theory and applications. Volume 47:Number 4(2019)
• Page Start: 612
• Page End: 632
• Publication Date: 2019-02-11
• Subjects: electrical drive -- experiment -- feedback control -- manipulator -- power packet; Electric circuit analysis -- Periodicals; 621.319205
• DOI: 10.1002/cta.2603
• Languages: English
• ISSNs: 0098-9886

Abstract

Summary: In systems disconnected from the external grid, such as mobile robots and vehicles, the effective use of renewables and energy harvesting techniques helps a longer operation with less weight and space for batteries. Power packet dispatching system is a promising measure to manage the complex power flow created by such distributed power sources of various profiles. In the system, power is transferred as a pulse, and information tag is attached to the pulse power in voltage waveforms. The physical integration of power and information realizes a smooth inclusion of sources and loads of different profiles and their decentralized operation. This paper discusses the application of the system to load control. We propose a decentralized packet‐based feedback control scheme. The successful operation of the proposed scheme is confirmed by an application to an electrical drive. In addition, the application to trajectory control of 2‐degree‐of‐freedom manipulator reveals the possibility of a peak‐power reduction based on a demand response operation of the proposed scheme. The results contribute to a realization of decentralized flow control of power packets based on the convenience of both the sources and the loads. Abstract : Power packet is a unit of transfer of both power and information in the same physical layer. We propose the packet‐based feedback control system as a decentralized subsystem of a general power packet dispatching system. The successful operation of the proposed subsystem is confirmed through an application to electrical drive. In addition, demand response operation is realized as a communication between the subsystems. The operation is confirmed through an experiment of manipulator control with the subsystems.