Trajectory control of manipulator fed by power packets

Mochiyama, Shiu; Takahashi, Rion; Hikihara, Takashi

doi:10.1002/cta.2275

Cited by 6 publications

(6 citation statements)

References 17 publications

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“…If we handle electric power in a digitized manner, power distribution will be changed completely different from the conventional. In this paper, we consider electrical energy networks in which power is digitized and quantized through power packetization [6][7][8][9][10][11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Power packet transferability via symbol propagation matrix

2018

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A power packet is a unit of electric power composed of a power pulse and an information tag. In Shannon's information theory, messages are represented by symbol sequences in a digitized manner. Referring to this formulation, we define symbols in power packetization as a minimum unit of power transferred by a tagged pulse. Here, power is digitized and quantized. In this paper, we consider packetized power in networks for a finite duration, giving symbols and their energies to the networks. A network structure is defined using a graph whose nodes represent routers, sources and destinations. First, we introduce the concept of a symbol propagation matrix (SPM) in which symbols are transferred at links during unit times. Packetized power is described as a network flow in a spatio-temporal structure. Then, we study the problem of selecting an SPM in terms of transferability, that is, the possibility to represent given energies at sources and destinations during the finite duration. To select an SPM, we consider a network flow problem of packetized power. The problem is formulated as an M-convex submodular flow problem which is a solvable generalization of the minimum cost flow problem. Finally, through examples, we verify that this formulation provides reasonable packetized power.

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Section: Introductionmentioning

confidence: 99%

Power packet transferability via symbol propagation matrix

2018

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“…The next step will be the modification of the control scheme for such multiphase motors. We consider that our previous studies on stepper motor drives by power packets will give a clue for the solution.…”

Section: Discussionmentioning

confidence: 99%

“…For example, an open‐loop power regulation by power packet density modulation has been proposed in Takahashi et al The fundamental idea of this paper is inspired by the study, regarding the use of dynamic quantization (Section ). Besides that, in our previous paper, packet‐based control is applied to trajectory control of a manipulator. However, there have been only limited results on a feedback control of power packet supply, in spite of the importance of feedback control in engineering applications.…”

Section: Introductionmentioning

confidence: 99%

Packet‐based feedback control of electrical drive and its application to trajectory tracking of manipulator

Mochiyama

Hikihara

2019

Circuit Theory & Apps

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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.

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“…Toward the application of the power packet dispatching to independent systems, this letter discusses the feasibility of motion control by power packets. So far, our group has experimentally verified the feasibility of trajectory control of a manipulator fed by power packets [6]. However, since the study adopts a centralized open-loop control of stepper motors, there remain following two challenges.…”

Section: Introductionmentioning

confidence: 99%

“…An angle disturbance can cause a step-out. Second, in [6], the information tag is attached by a centralized scheme at the packet generation, and fixed through the entire transfer from a source to a load. As mentioned above, the centralized control restricts the performance when the whole system gets larger.…”

Section: Introductionmentioning

confidence: 99%

Close-Loop Angle Control of Stepper Motor Fed by Power Packets

Mochiyama

Takahashi

Hikihara

2017

IEICE Trans. Fundamentals

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The power packet dispatching system, in which electric power is transferred in a pulse-shaped form with information, is expected to realize dynamical management of multiple power sources in independent systems such as robots. In this letter, close-loop control of a stepper motor by power packets is discussed. The precise angle control is achieved by the combined transfer of power and control information in experiments.

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Trajectory control of manipulator fed by power packets

Cited by 6 publications

References 17 publications

Power packet transferability via symbol propagation matrix

Power packet transferability via symbol propagation matrix

Packet‐based feedback control of electrical drive and its application to trajectory tracking of manipulator

Close-Loop Angle Control of Stepper Motor Fed by Power Packets

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