5-先端研究.ppt

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Delivery for Cooperative Motion Control IEEE International

Use of Control Signals IEEE International Conference on

9-4 0 6 (DC)-PLC for Reduction of Wires Delivery for

Koga Kentaro Kobayashi Masaaki Katayama MST Command Power

1 ! Power Supply Overlaid Communication and Common Clock Delivery for Cooperative Motion Control IEEE International Symposium on Power Line Communications and Its Applications, pp !!! A Wireless Cooperative Motion Control System with Mutual Use of Control Signals IEEE International Conference on Industrial Electronics (ICIT), pp.5-0 0!, RRRC0-06,pp (DC)-PLC for Reduction of Wires Power Supply Overlaid Communication and Common Clock Delivery for Cooperative Motion Control Fumikazu Minamiyama * Hidetsugu Koga Kentaro Kobayashi Masaaki Katayama MST Command Power Common Clock Nagoya University, Japan Hokuriku Electric Power Co., Japan MST: Master : Slave MST YASKAWA Electric Corp., Japan

Multi-Carrier Modulation Down-Link OFDM, Up-Link OFDMA!

M :Master S-k : kth Slaves M :Master S-k : kth Slaves

slave to inform the starting time of actions MST MST:

2 Communication of the Control Signal! Multi-Carrier Modulation Down-Link OFDM, Up-Link OFDMA Communication of the Control Signal! Multi-Carrier Modulation Down-Link OFDM, Up-Link OFDMA! OFDM and OFDMA by TDD Down-Link Up-Link RESPONSE COMMAND M :Master S-k : kth Slaves M :Master S-k : kth Slaves (DC)-PLC for Reduction of Wires Common Clock for Synchronized motions! Delivery of a high quality common clock signal to each slave to inform the starting time of actions MST MST: Master : Slave Command Common Clock Power MST? Command Power MST Common Clock Spread Spectrum SS

Reception of the Common Common Clock RX for Common Clock at the slaves High energy Threshold!

c Interval of Command Master Clock Master Clock Crystal Oscillator Action start time Action

Communication over the DC Power lines inside the Robot. Channel characteristics Band LimitedMH!

3 Reception of the Common Common Clock RX for Common Clock at the slaves High energy Threshold! MF Output!" High resolution Master Clock t Master Clock to Cue Slaves to Start Control signal!c Interval of Command Master Clock Master Clock Crystal Oscillator Action start time Action start time Start the action of Command #0 Objective! Communication over the DC Power lines inside the Robot. Channel characteristics Band LimitedMH! Command/Response between a Master & Slaves! Delivery of Common Clock for Cooperative Motion AMPLITUDE Frequency Selective PHASE 0

4 Spectra of Signals Down-Link Control signal OFDM(A) : L=05 subcarriers Common clock signal COMMAND COMMON CLOCK M :Master S-k : kth Slaves Challenge: cohabitation of control signal and clock " SS # " OFDMA # Same Channel for SS & OFDM: Flat Interference Up-Link Solution of Mutual Interference RESPONSE COMMON CLOCK ! OFDM(A) # SS : Process Gain of SS! SS # OFDM(A) : Interference Cancellation " SS # " OFDMA # Different Channel for SS & OFDMA: Colored Interference

5 Reduction of Influence of SS to OFDM(A) System Parameters Command Common Clock Receiver for Common Clock (RXt) Regenerated Common Clock Receiver for Control Signal (RXc) Interference Cancellation (IC) Master Clock Command Data Common Clock Signal Control Signal Number of Slaves K Channel Noise Carrier Frequency Chip Interval PN Sequence (Interval N) The Lowest Carrier Frequency Symbol duration Time The number of Subcarriers /Allocation Modulation Measured None 5 [MHz] 0.[µs] M sequences 0 padding 048(= ) [bit].9 [MHz]. [µs] 06/Slave with High Gain QPSK System Requirement Working Hours a year Accuracy of Self-Running OSC a pair losses of two successive command packets < once a year a misdetection of a start cure < once a year cue with timing error more than us < once a year Requirements for Communication Part [Reception performance] Common Clock Signal SS Prob. of False Alarm Prob. of Miss Detection Control Signal OFDM A ) Symbol Error Rate (SER) Required Conditions for Reception Performance Prob. of False Alarm # f. x 0-7 Prob. of Miss Detection # m. x 0 - SER for Control Signal # s.9 x 0-8

6 Down-Link Common Clock Signal COMMAND COMMON CLOCK " SS # " OFDMA # M :Master S-k : kth Slaves Same Channel for SS & OFDM: Flat Interference Control Signal + Common Clock Signal Receiver of Common Clock Signal ( ) MF! Threshold for detection"!" Threshold!" Probability Distribution Function Prob. of Miss Detection Prob. of False Alarm PDF Reception Performance of the Common Clock Signal (Down-Link) Prob. False Alarm # f 5 x0-7 4.!:Threshold of common clock slave0,, ($ d =4.5dB)!:small!=4.7 Control signal power (OFDM) " d =" Common clock signal power (SS)!=45.0!:large Requirement Prob. Miss detection # m Reception Performance of the Common Clock Signal (Down-Link) Prob. False Alarm # f 5 x0-7 4.!:Threshold of common clock slave0,, ($ d =4.5dB) $ Required Condition!=4.6 Control signal power (OFDM) " d =" Common clock signal power (SS)!=4.4 " d < 4.5 db Requirement Prob. Miss detection # m

7 Reception Performance of the Control Signal (Down-Link) 0 0 average SER 0 - w/o IC (QPSK) with IC " [db] In the case of using IC at the " =4.5[dB] SER <0-8 required SER = "0-8 ) Up-Link COMMON CLOCK RESPONSE " SS # " OFDMA # Different Channel for SS & OFDMA: Colored Interference Reception Performance of the Common Clock Signal (Up-Link) False Alarm Prob. # f 5 x0-7!:threshold of common clock 4!:small"!=5.5 Control signal power(ofdma) " =" Common clock signal power(ss) Required Condition " u <5dB. ($!=59.!:large" # m Reception Performance of the Control Signal (Up-Link) 0 0 average SER with IC <0-8 w/o IC " [db] In the case of using IC at the " =5[dB], SER <0-8 required SER = "0-8 ) (QPSK)

Conclusions ICIT-SSST0 March 5 th Auburn Univ. Alabama! A multiple servo control communication system in which the power supply overlaid communications!

University, Japan Cooperative Motion Control System Performance of Wireless Cooperative Control Cooperative motion Multiple machines work at the same time with each other.

8 Conclusions ICIT-SSST0 March 5 th Auburn Univ. Alabama! A multiple servo control communication system in which the power supply overlaid communications! Delivery of a common clock for cooperative motion control A Wireless Cooperative Motion Control System with Mutual Use of Control Signals Tsugunori Kondo Kentaro Kobayashi Masaaki Katayama Nagoya University, Japan Cooperative Motion Control System Performance of Wireless Cooperative Control Cooperative motion Multiple machines work at the same time with each other. Robot group control Assembly lines Partner robots.... Packet errors Control performance of each machine (stability, etc.) Synchronization of all machines.... Control of moving machines Relocation of machines Saving of space New measurement of performance is the synchronization of all machines.

Conventional Control Signal Transmission Conventional Mutual Use of Control Signals method Conventional One input and one output. method One input and one output.

9 Conventional Control Signal Transmission Conventional Mutual Use of Control Signals method Conventional One input and one output. method One input and one output The nature of wireless Proposed method Multiple input and one output We consider to use the control signals of the other machines. 4 Rotary Inverted Pendulum Purpose The pendulums are controlled to make their arm angles follow the target value while keeping the pendulums in an upright position ( =0). A wireless control method for a cooperative motion system Basic model Mutual use of the control signals Improvement of control performance and synchronization New measurement of performance Synchronization of all machines Bipedal walking robot Crane Rocket launching pad Underactuated system One actuator for two degrees of freedom :Control information (torque) :State information 5 6

10 Rotary Inverted Pendulum Cooperative Motion Model :Control information (torque) :State information 7 In wireless channels, packet errors may occur. Success Failure Success Input the transmitted signal Failure Reuse the last received value Success Failure 8 A example of synchronized motion Top view (The pendulum maintains an upright position.) System Model Wireless channel Independent Transmission Scheme Wireless channel :Control information (torque) :State information :Success :Failure :Success :Failure Success :Input the transmitted signal 9 40 Failure :Reuse the last received value

11 Proposed Transmission Scheme (signal input) Proposed Scheme (selection of the signal) Rx Rx Rx Rx plant Rx Rx plant Each plant receives each other s control information. e.g. Feedback loop No. 4 4 Proposed Scheme (selection of the signal) Proposed Scheme (selection of the signal) Rx Rx Rx Rx plant plant Rx plant Rx - - Select the most plant similar signal 4 = :If success 44 = or signal is used :If fail signal is used

12 Proposed Scheme (selection of the signal) Proposed Scheme (selection of the signal) Rx Rx Rx Rx plant plant Rx plant Rx plant = signal is used :If and fail = signal is used :If and fail Proposed Scheme (selection of the signal) Proposed Transmission Scheme (input) Rx Main controller Rx plant Rx plant 47 = :If all fail 48 The state information of each controller is available to every other controller.

13 Proposed Scheme (selection of the signal) Main controller Proposed Scheme (selection of the signal) Main controller controller controller controller controller e.g. Feedback loop No. = :If success Proposed Scheme (selection of the signal) Main controller Proposed Scheme (selection of the signal) Main controller controller controller controller controller 5 = signal is used or signal is used - - Select the most similar signal 5 = signal is used :If and fail

14 Proposed Scheme (selection of the signal) Main controller Proposed Scheme (selection of the signal) Main controller controller controller controller controller = signal is used :If and fail = :If all fail 5 54 Simulation Simulation. Control performance :The rate at which the pendulum collapses. Synchronization performance :The difference among arm angles. Control performance :The rate at which the pendulum collapses. Synchronization performance :The difference among arm angles Packet loss :Random Desired value 55 Pendulum angle( ) Arm angle( ) Arm angle( ) Period of arm motion (T) Precision level Top view Falling down range of pendulum 0 [rad] 0 [rad] 0 [rad] 0 [s] 0 - [rad] /6[rad] Every 5 seconds, the desired values are flipped. The motion of plants and is equal Packet loss :Random Desired value 56 Pendulum angle( ) Arm angle( ) Arm angle( ) Period of arm motion (T) Precision level Top view Falling down range of pendulum 0 [rad] 0 [rad] 0 [rad] 0 [s] 0 - [rad] /6[rad] Every 5 seconds, the desired values are flipped. The motion of plants and is equal

15 Rotary Inverted Pendulum Pendulum Angle :Control information (torque) :State information :Success :Failure In wireless channels, packet errors may occur. :Success :Failure Pendulum angle [rad] Low packet loss (p=0.0) Time [s] Transmission Success Transmission Failure Packet transmission rate (0Hz) Success Input the transmitted signal Failure Reuse the last received value The pendulum can maintain its upright position Pendulum Angle Pendulum Angle Pendulum angle [rad] High packet loss (p=0.) Time [s] The pendulum is considered to fall down when its angle goes over /6 or below - /6 rad Transmission Success Transmission Failure Packet transmission rate (0Hz) Pendulum angle [rad] High packet loss (p=0.) Time [s] Transmission Success Transmission Failure Packet transmission rate (50Hz) Packet errors occur before the pendulum can restore its upright position. 59 The pendulum falls down. 60 If packet transmission rate is high, the pendulum can maintain its upright position.

Transmission Rate / Loss Rate in 00s Trade-off between the packet transmission rate and the packet loss rate [] Transmission Rate vs Loss Rate Packet loss rate 0. 0.5 0. 0.5 0. 0.05 Each point :At least one of the pendulums falls down in a simulation of 000 runs of 000[s] Proposed Independent 0 0.

Katayama, Influence of channel errors on a wireless-controlled rotary inverted pendulum 6 The proposed scheme is especially effective when packet transmission rates are low.

Synchronization performance :The difference among arm angles Every 5 seconds, the desired values are flipped.

16 Transmission Rate / Loss Rate in 00s Trade-off between the packet transmission rate and the packet loss rate [] Transmission Rate vs Loss Rate Packet loss rate Each point :At least one of the pendulums falls down in a simulation of 000 runs of 000[s] Proposed Independent Packet period [s] 5Hz (0Hz) 6 [] R.Kohinata,T.Yamazato and M.Katayama, Influence of channel errors on a wireless-controlled rotary inverted pendulum 6 The proposed scheme is especially effective when packet transmission rates are low. Simulation Arm Angle (no packet loss). Control performance :The rate at which the pendulum collapses. Synchronization performance :The difference among arm angles Every 5 seconds, the desired values are flipped. Packet loss :Random Desired value 6 Pendulum angle( ) Arm angle( ) Arm angle( ) Period of arm motion (T) Precision level Top view Falling down range of pendulum 0 [rad] 0 [rad] 0 [rad] 0 [s] 0 - [rad] /6[rad] Every 5 seconds, the desired values are flipped. The motion of plants and is equal Arm angle [rad] 64 Time [s] Desired value Output Time [s] Desired value Output

17 Arm Angle (Independent) Arm Angle (Proposed) Arm angle [rad] Packet loss rate :0.05 Output () Output () Output () Arm angle [rad] Packet loss rate :0.05 Output () Output () Output () Time s Time s Arm angle [rad] Arm angle [rad] Arm angle [rad] Arm angle [rad] Synchronization Error of Arm Angle Arm angle [rad] Output Output Time [s] Synchronization error of arm angle [rad] Synchronization error: The difference between the two arm angles Time [s] Synchronization Error of Arm Angle Synchronization error of arm angle [rad] Independent Time [s] Synchronization error of arm angle [rad] Synchronization error between output and output Proposed Time [s] The proposed scheme reduces the synchronization error

18 Distribution of Worst Synchronization Error The distribution of worst synchronization errors in a simulation run of 000[s] (number of trials :000) Synchronization Error for Packet Transmission Rate The average of worst synchronization errors in a simulation run of 000[s] (number of trials :000) Number of times Proposed Packet loss rate :0.05 Independent Average of worst synchronization error [rad] Packet loss rate :0.05 Independent Proposed over Synchronization error range [rad] Packet transmission rate [Hz] 69 Average and variance of the synchronization error of the proposed scheme are smaller than independent scheme. 70 The proposed scheme reduces the synchronization error for whole packet transmission rate. Synchronization Error for Packet Loss Rate The average of worst synchronization errors in a simulation run of 000[s] (number of trials :000) Conclusions For wireless cooperative motion of machines Average of worst synchronization error [rad] Packet loss rate Independent Proposed Packet transmission rate :0Hz The proposed scheme reduces the synchronization error for whole packet loss rate. 7 Proposal Mutual use of control signals New measurement of the machine synchronization The control performance of each machine is improved. The synchronization performance of machines is improved.

19 0 RRRC !!!! (PWM) PLC! N. Ginot, M.A. Mannah, C. Batard, and M. Machmoum, Application of power line communication for data transmission over pwm network, IEEE Transactions on Smart Grid, vol., pp.78 85, Sept. 00.! [V] T AC /.00 [ms] T AC /=/0 [] [] M. Katayama, T. Yamazato, H. Okada, A Mathematical Model of Noise in Narrowband Power-Line Communication Systems, IEEE Journal on Selected Areas in Communications, vol. 4, No. 7, pp , Jul. 006

20 [V].00 [ms]!!

21 T s T s T p T p T p T s

22 T s T p!"!"!"!:snr BPSK!"

23 !"!" BPSK Hz 60 Hz [rad] 0 0! ±!/6 [rad] BPSK Hz 60 Hz [rad] 0 0! ±!/6 [rad] "/6 "/6

24 0.004 [kg] 0.05 [kg] 0.4 [m] 0.5 [m] 0.00 [kgm ] 9.8 [m/s ] SNR

25 SNR SNR

26 0Hz

27 ! SNR!

LMC6022 Low Power CMOS Dual Operational Amplifier (jp)

LMC6022 Low Power CMOS Dual Operational Amplifier (jp) Low Power CMOS Dual Operational Amplifier Literature Number: JAJS754 CMOS CMOS (100k 5k ) 0.5mW CMOS CMOS LMC6024 100k 5k 120dB 2.5 V/ 40fA Low Power CMOS Dual Operational Amplifier 19910530 33020 23900