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This paper summarizes the most imporiant hatures of the Control n e w k communication as a part of the distributed confrd system. The con- neiwwk fbr the time critical, reaj-time communication within the control system is used. Complex... more
This paper summarizes the most imporiant hatures of the Control n e w k communication as a part of the distributed confrd system. The con- neiwwk fbr the time critical, reaj-time communication within the control system is used. Complex Drive System as distributed multicontrdler systems with several application controllers interconnected by fast local communication link is presented. Some basic ibafures of tbe new communication module demonstrate a usefulness of proposed access to the confrd link. 1.
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Requirements of modern cranes and another heavy-duty material handling systems result in demand for sophisticated crane control and automation systems capable of handling loads fast and reliable connection to the particular information... more
Requirements of modern cranes and another heavy-duty material handling systems result in demand for sophisticated crane control and automation systems capable of handling loads fast and reliable connection to the particular information systems. These systems continuously provide up-dated information about containers moves and crane status. The total function is built up of a number of distinct building blocks installed from the beginning or added on after. Many of the building blocks are tightly connected to each other to achieve the right functionality and performance. For steel mill cranes and another similar industrial systems special attention is paid to the systems robustness, reliability and availability. Generally, the crane motion control system supports positioning, brake control, and another application function. In order to achieve a number of different possibilities to solve engineered problems, the multidrive concept is applied. Mentioned concept includes: powerful proc...
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ABSTRACT Today, three-phase voltage source converters (VSC) are connected to the grid through LCL-filters. This is because the LCL-filters can achieve higher damping than L-filters for the same volume, i.e. price. For the purposes of the... more
ABSTRACT Today, three-phase voltage source converters (VSC) are connected to the grid through LCL-filters. This is because the LCL-filters can achieve higher damping than L-filters for the same volume, i.e. price. For the purposes of the LCL-filter design and optimization procedures usually all nonlinearities of the converter are neglected. The dead-time is a safety measure used to prevent the simultaneous conduction of semiconductor switches in the same phase leg of a given converter. Essentially, it represents a nonlinearity introduced into the system. This paper focuses on the deadtime concept and its influence on three-phase VSC performance in steady-state. The influence of dead-time is analysed by comparing harmonic spectrums of the converter AC voltage and the current at the point of common coupling for various values of dead-time. The use of simulation model is a simple and straightforward way to carry out this analysis. The simulation results, obtained for the case of zero dead-time and double-edge naturally sampled pulse width modulation (PWM), are numerically validated by comparing harmonic spectrums with well-known analytical solutions for the selected PWM strategy. The results presented in this paper clearly show that the dead-time should not be omitted from the harmonic spectrum analysis, and from the filter design and optimization procedures. This indicates that similar analysis should be done for other nonlinearities present in the system.
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Today, three-phase voltage source converters (VSC) are connected to the grid through LCL-filters. This is because the LCL-filters can achieve higher damping than L-filters for the same volume, i.e. price. For the purposes of the... more
Today, three-phase voltage source converters (VSC) are connected to the grid through LCL-filters. This is because the LCL-filters can achieve higher damping than L-filters for the same volume, i.e. price. For the purposes of the LCL-filter design and optimization procedures usually all nonlinearities of the converter are neglected. The dead-time is a safety measure used to prevent the simultaneous conduction of semiconductor switches in the same phase leg of a given converter. Essentially, it represents a nonlinearity introduced into the system. This paper focuses on the deadtime concept and its influence on three-phase VSC performance in steady-state. The influence of dead-time is analysed by comparing harmonic spectrums of the converter AC voltage and the current at the point of common coupling for various values of dead-time. The use of simulation model is a simple and straightforward way to carry out this analysis. The simulation results, obtained for the case of zero dead-time ...
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ABSTRACT The paper presents a method of estimating the transient inductance and rotor resistance of an induction machine in a self-commissioning scheme. The method is based on two frequency-domain tests, with injected frequencies that are... more
ABSTRACT The paper presents a method of estimating the transient inductance and rotor resistance of an induction machine in a self-commissioning scheme. The method is based on two frequency-domain tests, with injected frequencies that are selected by using special criterions. These are established based on the standstill frequency domain analysis. Identification results for large machines of different sizes are included, and validated by comparison with the results obtained by performing standard tests.
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Abstract. This paper summarizes the most important features of the Crane Control Network (CCN) and Fast Multidrive Field bus Link (FMFL) as a part of the Distributed Multidrive System (DMS). The proposed links provide a real-time... more
Abstract. This paper summarizes the most important features of the Crane Control Network (CCN) and Fast Multidrive Field bus Link (FMFL) as a part of the Distributed Multidrive System (DMS). The proposed links provide a real-time communication link between various clients or controllers in a complex DMS. CNL is configured as a local overriding communication network and includes FMFL as subnet. CNL and FMFL are designed in accordance with ISO's seven-layer model for Opens System Interconnection (OSI). Both links are used for the time critical, real-time communication within the DMS. DMS, access to the CNL and basic features of the FMFL’s protocol are shortly presented.
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Tlus paper deals with the application of a sliding mode control (SMC) in tracking systems with trajectory generation. The possibilities of using this kind of VSS strategy on tracking control with reference trajectory generation under load... more
Tlus paper deals with the application of a sliding mode control (SMC) in tracking systems with trajectory generation. The possibilities of using this kind of VSS strategy on tracking control with reference trajectory generation under load disturbance and variable inertia is tested. The practical design of such robust sliding mode controller is discussed. Control law is obtained by using the methodology of balance condition. In order to achieve a tracking with quaranteed precision, smoothing of control function in constant and variable boundary layer are compared. Laboratory setup for experimental verification are realised. It consists of host system (based on MC 68332) and tw mechanically coupled synchronous motor permanent magnet (SMPM), where one motor is load for another one. Economical loading is used, connecting the DC Busbars of both converters together so only a minimum energy for losses are consummated. K e w r d s . Sliding mode control, robust control, balance condition, t...
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This paper summarizes the most important advances of the used crane control technology in perspective of automatic operation of container cranes. Faster and more productive container cranes demands highly efficient yard system. Storage... more
This paper summarizes the most important advances of the used crane control technology in perspective of automatic operation of container cranes. Faster and more productive container cranes demands highly efficient yard system. Storage capacity is the limitation for most terminals today; automatic operation offers optimum stacking density and peak capacity equivalent for continuous manning of every crane. As cranes become larger and faster, operations starting to be increasingly more difficult. To meet the increased demand, different automation strategies should be adopted. Automatic operation requires sensor systems for target position (TPS), sensors for load position (LPS), video equipment on spreader/crane, control and communication equipment on the crane and remote consoles for video and control signals. As new large containers terminals are being built in many places, automation as already accepted technology with proven benefits, helping the change in mindsets towards increase...
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This paper summarizes the most important advances of the used crane control technology in perspective of unmanned operation of container cranes. Unmanned operation with remote control support today is available for almost all types of... more
This paper summarizes the most important advances of the used crane control technology in perspective of unmanned operation of container cranes. Unmanned operation with remote control support today is available for almost all types of new/existing rail mounted container cranes. Storage capacity is the limitation for most terminals today; unmanned operation offers optimum stacking density and peak capacity equivalent for continuous manning of every crane. Besides that, most of the benefits could be emphasizing in reduction of labor cost, high and uniform productivity, integration with terminal planning system, etc. Unmanned operation requires sensor systems for target position (TPS), sensors for load position (LPS), video equipment on spreader/crane, control and communication equipment on the crane and remote consoles for video and control signals. To remain fully operational with terminal at all times requires extraordinary work flows, narrow time schedules and lots of work which do...
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... Alen Poljugan*, Fetah Kolonic* and Alojz Slutej† *University of Zagreb/ Department of Electric Machines, Drives and Automation, Zagreb, Croatia †Automation systems AB, ABB, Västerås, Sweden Abstract— An AC slip-ring motor speed... more
... Alen Poljugan*, Fetah Kolonic* and Alojz Slutej† *University of Zagreb/ Department of Electric Machines, Drives and Automation, Zagreb, Croatia †Automation systems AB, ABB, Västerås, Sweden Abstract— An AC slip-ring motor speed estimation in the industrial crane control ...
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Abstract: Digital integrated industrial controller is a specially designed speed control system for the cranes and another heavy duty material handling systems. It is intended for wound (slip-ring) motors and fully supports stator voltage... more
Abstract: Digital integrated industrial controller is a specially designed speed control system for the cranes and another heavy duty material handling systems. It is intended for wound (slip-ring) motors and fully supports stator voltage control, rotor step switching, positioning, ...
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Sažetak: Developed speed crane control system based on wound AC motor is advanced system for heavy duty tasks especially in the field of industrial cranes and another heavy duty material handling systems. In order to avoid problems with... more
Sažetak: Developed speed crane control system based on wound AC motor is advanced system for heavy duty tasks especially in the field of industrial cranes and another heavy duty material handling systems. In order to avoid problems with mechanical feedback ...
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Abstract-This paper describes DSpace microprocessor platform and Matlab/Simulink environment for development of a speed estimation algorithm. The main principle of the estimation algorithm and proposal for algorithm change in sense of the... more
Abstract-This paper describes DSpace microprocessor platform and Matlab/Simulink environment for development of a speed estimation algorithm. The main principle of the estimation algorithm and proposal for algorithm change in sense of the system ...
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Integrated Drive Controller (IDC) is a specially designed speed control system for cranes and another heavy duty material handling systems. It is intended for slip-ring motors and fully supports positioning, brake control, rotor step... more
Integrated Drive Controller (IDC) is a specially designed speed control system for cranes and another heavy duty material handling systems. It is intended for slip-ring motors and fully supports positioning, brake control, rotor step switching and another application functions. The control system also includes protective functions that are necessary for crane motor drives application. Of the drive systems suitable for this size (201000kW) in this electrical and environmental situation the stator voltage controlled systems and slip-ring motors since long has been and still is the most suitable solution. The energy balance for a crane drive is normally not considered as important as the previous mentioned objectives. The installation cost and hence the suitability are however depending of the management of the losses on the crane. For the crane drive that most of its time is run in full speed up or full speed down the losses except motors and cables are about 4% of the motor power. Th...
The paper summarizes the most important advances of the used crane control technology in perspective of semi-automatic/automatic operation of Electrical Overhead Travelling (EOT) cranes. Those cranes are often used in the heavy industrial... more
The paper summarizes the most important advances of the used crane control technology in perspective of semi-automatic/automatic operation of Electrical Overhead Travelling (EOT) cranes. Those cranes are often used in the heavy industrial environment, typically steel-mill applications and crane container handling. Most of them need sensor and/or sensorless technology in order to realize specific tasks with very strict safety categorized regulations for most electro-mechanical motions. Operation in harsh environment has significant impact during the crane's manipulation phase of crane control devices. Faster and more productive cranes demand a highly efficient Real-Time Controller (RTC), as well as overriding system, to control actuators in the closed loop. Monitoring and production statistic as functional subset of the Real Time (RT) controller is not presented in details in this paper.