Research on Excitation Control of Flexible Power Conditioner Doubly Fed Induction Machine Zhao Yang1,2, Zou Xudong1, Huang Daocheng1, Liu Xinmin1, Cao Fengxiang1, Kang Yong1, Cheng Shijie1 1College of Electric and Electronic Engineering, Huazhong University of Science and Technology, Wuhan 430074, China 2 College of Electric and Electronic Engineering, Hubei University of Technology, Wuhan 430068, China active and reactive power generation when used in Abstract—The multi-functional flexible power power systems[1]-[3]. So it can be applied to improve conditioner (FPC) can perform multi-functions stability and quality of power systems. The equipment including energy storage, active and reactive power with the proposed configuration also can be used in generation, and considerably enhance power system other applications [4]-[7]. stability and quality. The motor adopted in FPC is The FPC is composed of three parts: 1) the doubly-fed induction machine (DFIM) with large doubly-fed induction machine (DFIM) with very large rotating inertia. This paper firstly establishes the model rotating inertia, 2) an ac-to-ac exciter, 3) excitation of FPC DFIM. It proposes and analyses the five vector control system. DFIM is widely used in wind operation states such as energy storage, active power energy generation system, hydropower energy generation and reactive power generation, speed generation and pump station. The attractiveness of limitation and floating charge. It puts forward the DFIM stems primarily from its ability to handle large excitation control strategy of the FPC DFIM with the speed variations around the synchronous speed and combination of the power-mode control and speed-mode the excitation converter between the rotor winding control. The FPC multi-functions are realized on an and the grid handles only a fraction of the total power asynchronous motor of small capacity. The experimental to achieve the full control of the system. So the results verify the excitation control strategy proposed application of DFIM makes big sense to FPC which and the good dynamic and static performance of the used in the power system. The FPC DFIM can be system while switching control mode under various regarded as a doubly-fed induction generator without operation states. prime mover or a doubly-fed induction motor without This work is jointly supported Special Fund of the National mechanical load, so the control method and Basic Research Program of China (No. 2004CB217906) and application technology of DFIM proposed in literature National Natural Science Foundation of China (No. is also suitable for FPC DFIM[8]-[13]. 50507006). The theoretic analysis, computer simulation and the start and cut-in method of FPC were carried out in ref. Index Terms—Flexible power conditioner; Doubly-fed [1], [2] and [3]. This paper focuses on the excitation induction machine; direct-start; Back-to-back converters; control strategy to realize the multi-functions of FPC Speed control mode and the experimental research on a small capacity set. It is organized as follows. Section II builds up a I. INTRODUCTION third-order model of FPC DFIM related to its The power imbalance caused by power system fault electromagnetic and mechanical aspects. Based on the may result in the power system instability. The energy multi-functions and operation characteristics of FPC, storage system is a simple way to compensate the Section III firstly brings forward five operation state unbalanced power and enhance the system stability. of FPC including energy storage, active power Attention has been paid to the flywheel energy storage generation, reactive power generation, speed system which features very high power density, long limitation and floating charge. Then a stator service time, insensitivity to environmental conditions flux-oriented vector control strategy combined and free maintenance. A new kind of FACTS power-mode control with speed-mode control is put equipment, the multi-functional Flexible Power forward. To verify the excitation control strategy and Conditioner (FPC) incorporates the flywheel energy the switch control technology at different operation storage technology and synchronous condenser to state, experimental research is done on a small perform multi-functions including energy storage,

1-4244-0655-2/07/$20.00©2007 IEEE

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capacity experimental set. Satisfactory characteristics in power regulation and dynamic response are obtained in Section IV. II.

udr

MODEL OF FPC DFIM

ªu ds º «u qs » «u » « dr » ¬«u qr ¼»

ª R s 0 0 0º ªi ds º « 0  Rs 0 0» «i qs » « 0 0 R 0 » «i »  r « » « dr » ¬« 0 0 0 Rr ¼» ¬«i qr ¼»

u qr

0 ª Ls « 0  Ls « L 0 « 0 ¬« 0  L0

0 º ªids º L0 » «iqs » ˜ 0 » ««idr »» » Lr ¼» «¬iqr »¼

u ds u qs udr uqr

 JpZ r  DZ r

(2)

\s 0

Ls



iqr

L0U s Ls

Ps

L0 n 2pU s / LsZ1 Js  D

Zr

0 Us

(6)

Rr  V Lr p idr  Z2V Lr iqr Rr  V Lr p iqr  Z2 V Lr idr  L20ims

Ls



(7)

Eq.(6) shows that the assumption (a) and (b) realize the stator voltage vector orientation. At the same time the order of the DFIG model decreases from fifth to third which is beneficial to simplify the excitation control system of FPC DFIM. The equation (7), (3) and (4) make up of a new third-order model. The excitation control strategy based on the assumption (a) and (b) is often termed stator flux-oriented vector control strategy. The relationship between the flywheel speed Z r , active power Ps , reactive power Qs and the other variables is

(3)

The electromagnetic torque in (3) is Tem n p L0 (i qs i dr  i ds i qr ) (4) Subscripts s and r indicate stator and rotor variables respectively, subscripts d and q stand for vector components with respect of dq reference frame; L0 denotes the mutual inductance; Z1 is the synchronous rotating electrical angular velocity, namely the reference frame rotating velocity; Z r is the flywheel rotating electrical angular velocity; Z 2 is the slip electrical angular velocity; Tem is the electromagnetic torque; J is the moment of inertia, D is the viscous friction coefficient; n p represents the number of pole pair; p is the differential operator, p d / dt . Equations (1) to (4) are set of differential equations making up of a fifth-order model which describes the dynamic behavior of FPC DFIM. In order to simplify of the model above, it is assumed that (a). neglecting the influence of the stator flux linkage's transient state and orienting the d-axis of the synchronous frame to the direction of the stator flux vector. (b). omitting the stator resistance Rs . From the assumption (a) and (b)

\ ds \ qs

Ls

Where V represents the leakage coefficient, V 1  L20 Ls ˜ Lr ; ims is the stator flux magnetizing current, ims < s L0 U s Z1 ˜ L0 .

The motion equation is given by n pTem

1 Rr  VLr s

Qs

Figure 1. Block diagram of the FPC DFIG model

ª\ ds º ª Z1\ qs º «\ qs » « Z1\ ds » p« » (1) »« «\ dr » « Z 2\ qr » ¬«\ qr ¼» ¬« Z 2\ dr ¼»

L0 0 Lr 0





L20ims

idr



The stator and rotor flux linkages in (1) are ª\ ds º «\ qs » «\ » « dr » «¬\ qr »¼

1 Rr  VLr s

Z 2 VLr idr 

The DFIG equations depicted in a two axis d-q reference frame rotating at synchronous speed are derived from Park's equations. The stator side of DFIG uses generator convention, which means that the currents, the active and reactive power are positive when flowing toward the grid, the rotor side of DFIG uses motor convention which is on the contrary. The voltage equations can be written as

U s2 Z1Ls  L0U s

Z 2VLr iqr



Zr Ps Qs



L0 n 2pU s iqr LsZ1 Jp  D L0 i qr Ls

u ds i ds  u qs i qs

Us

u qs i ds  u ds i qs

U2 L U s 0 i dr  s Z1 L s Ls

(8)

(9)

Eq.(3), (7), (8) and (9) compose the full FPC DFIM model whose block diagram is depicted in Fig.1. III.

CONTROL STRATEGY OF FPC DFIM

Based on the multi-functions of FPC including energy storage, active and reactive power generation, the FPC DFIM has three operation states including energy storage, active power generation and reactive power generation. A Energy storage and Active Power Generation State

(5)

The system fault will cause unbalanced power, which is the error of the active power the generator

93

sends out and that the power system consumes for the moment. In order to compensate the unbalanced power, FPC runs at two operation state, the energy storage and active power generation, alternately for the short period of time. At the active power generation state, the FPC DFIM releases the electric power to the utility grid with the flywheel speed descending. At the energy storage state, the FPC DFIM absorbs the electric power from the utility grid with the flywheel speed rising.

Ps*

PI



* iqr

PI



1 Rr  VLr s

iqr L ˜ U 0 s Ls

Ps

Fig. 2 Control structure under power-mode control Z r* 

B Reactive Power Generation State

PI

* iqr

 

PI

iqr 1 L0 n 2pU s iqr / Z1LS  Rr  VLr s Js  B

Zr

Fig. 3 Control structure under speed-mode control

In order to fully utilize the capacity of the machine and the converter to enhance the system stability and phase regulation ability, the FPC DFIM doesn’t compensate active and reactive power to the system at the same time. So, FPC is namely a conventional “synchronous-speed rotary condenser” capable of only reactive-power control while in phase regulation state. FPC DFIM keeps the flywheel speed constant and absorbs a little electric energy to compensate various losses. Except for the three operation state for realizing the FPC multi-functions mentioned hereinbefore, the FPC DFIM has two other states, the speed limitation and floating charge.

At the energy storage and active power generation state, in order to achieve the good performance of tracking power reference value, q  axis channel of the control system adopts the excitation control strategy with active power outer loop and q  axis rotor current inner loop, which is termed power-mode control[8]-[11]. The flywheel speed keeps steady at maximal speed, minimal speed or floating charge speed when FPC is at the reactive power generation, speed limitation and floating charge state. In order to achieve the steady speed, q  axis channel of the control system adopts the excitation control strategy with speed outer loop and q  axis rotor current inner loop control, which is termed speed-mode control[10]-[13]. To control the reactive power, d  axis channel of the control system adopts reactive power outer loop and d  axis rotor current inner loop control. The control scheme of the active power under power-mode control is showed in block diagram in Fig.2.The cascaded control scheme under speed-mode control is depicted in Fig.3. The cross-relation between the d –axis and q -axis rotor current in Eq.(7) is feed-forward compensated in both Fig.2 and Fig.3. The active power and the flywheel speed reference value in Fig.2 and Fig.3 are determined by the requirement of power system. Fig.2 and Fig.3 don’t contain the mechanical torque which contained in the control scheme of the doubly-fed induction generator or doubly-fed induction motor for FPC DFIM doesn’t have prime mover or mechanical load. Fig.4 shows the stator flux-oriented vector control strategy of the FPC DFIM exciter under two mode controls. The controllers used in the current inner loop, the power outer loop and the speed outer loop are designed with typical PI controllers to achieve the excellent static and dynamic performance. To realize the FPC multi-functions and implement the normal operation, it needs to switch the control mode from one to another. The control system switches the power-mode control to the speed-mode control, when the flywheel speed reaches the maximal or the minimal limit while FPC is compensating the

C Speed Limitation State Considering the limit of the flywheel speed and the converter capacity, the flywheel speed will keep rising till the maximal speed when FPC DFIM absorbs the active power from the grid. And the flywheel speed will keep descending till the minimal speed when FPC DFIM releases the active power to the grid. Whether at the maximal speed or at minimal speed, FPC DFIM is at speed limitation state without the ability to compensate unbalanced power temporarily. D Floating Charge State To balance the ability to absorb and release active power, FPC is at floating charge state at the mean time because the unbalanced power which FPC compensates to the utility grid could be either positive or negative. That is to say, at the floating charge state, the flywheel speed is keeping a constant between the maximal and minimal speed, usually bigger than the synchronous speed. Whether in speed limitation state or floating charge state, FPC DFIM is controlled at a certain speed. From the discussion above, FPC DFIM needs to efficiently control the active and reactive power at whichever state it is. From Eq.(3), (7), (8) and (9), it can be shown that based on vector-control and decoupling, the control system regulates active and reactive power of FPC independently by controlling q  axis and d  axis rotor current, respectively.

94

Ps* Ps

* iqr



Z r* Zr

PI



Z 2 VLr idr  L20ims Ls PI PI

PI



* idr

Qs 

Z 2VLr iqr idr

j T s T r * e udr

Ts  Tr

e  j T

s

iabcr

iDEr

T r

3/ 2

encoder

 Tr

Z2

 Zr



Z1



ims

d / dt

d / dt

Rotor  Side Converter

PWM

2/3

 T slip

iqr

DC bus

* uqr



 



PI



Qs*



Ts



S /2



1 / Z1L0

Us

Tu Ps

Qs

uDEs

K/P

PQ caculation

iDEs

3/ 2

3/ 2

FPC DFIM uabcs

iabcs

grid

Fig.4 Block diagram of stator flux-oriented excitation control strategy

storage and active power generation. DFIM firstly operates at the floating charge state with the rotor speed 1700r/min. To implement the active power generation function, the stator side of DFIM sends out active power, Ps* 600 W. The rotor of DFIM releases the kinetic energy with the rotor speed descending to the minimal speed, n min 500 r/min. To implement the energy storage function, the stator side of DFIM absorbs active power, Ps* 600 W. The rotor of DFIM storages the kinetic energy with the rotor speed increasing from 2000r/min. 500r/min to the maximal speed, n max

unbalanced power, or when FPC returns to the floating charge state to prepare for the next compensating task after implement one. And the control system exits speed-mode control to the power-mode control, when FPC needs to compensate the unbalanced when power system fault happens. To realize the control mode switch, the control system mutually switches between speed outer loop and power outer loop. The limit of reference value for the current inner loop under speed-mode control is different from that under power-mode control. The output limit of the power outer loop is determined by the converter capacity which decides the maximal power the FPC can compensate to the system. In order not to make an impulse to the system and to regulate the flywheel speed fast, the output limit of speed outer loop is the maximal current that FPC can contain from the utility grid when it operates normally. IV. EXPERIMENTAL RESULTS The proposed method is verified on a small capacity set which composed of a DFIM and a dual direction AC/DC/AC power converter as shown in Fig.5. Specifications of the wound-wind induction motor used as DFIM are indicated in Table I. The ac-to-ac exciter between the rotor winding and the grid often adopts the configuration of two back-to-back four-quadrant voltage source converters, which is popular at present, because of its powerful function. Converter I adopts the proposed excitation control strategy above, and Converter II adopts grid voltage-oriented vector control strategy to control the dc-link voltage and the grid power factor. L1 ǃ L2 is the inductance as converters output filter. Transformer T is used for matching the grid voltage and the output voltage of converter II. Series of experiments have been done on the small capacity set. Fig.6 is the experiment results of implementing the multi-functions including energy

grid DFIM I

L1

II

L2

T

C

Fig. 5 Experimental set with a DFIM and back-to-back converters TABLE I. CHARACTERISTICS OF DFIM Machine Characteristic

Value

rating active power (kW)

2.2

mutual inductance (H)

0.28

stator inductance (H)

0.287

rotor inductance (H)

0.287

stator resistance ( ȍ )

2.8

rotor resistance ( ȍ )

2.52

number of pole pair

2

2

95

inertia ( kg ˜ m )

0.1

stator voltage

380

Fig.6 (a) and (b) show the rotor speed n , q  axis rotor current i qr and stator active power Ps . The excitation control system adopts the speed-mode control when the rotor speed is the floating charging speed 1700r/min, minimal speed 500r/min or maximal speed 2000r/min. The iqr and Ps both have small negative value which means that DFIM absorbs the energy from the utility grid to compensate various loss to keep the rotor speed stable. And when DFIM operates at the active power generation state or the energy storage state, it adopts the power-mode control with the power reference value 600W or -600W. The active power of the stator side and the rotor speed are both controlled by the q  axis rotor current iqr . Fig.6 (c) shows the response of the rotor phase current i ra when the rotor speed is descending from 1700r/min to 500r/min and increasing from 500r/min to 2000r/min. The frequency and phase sequence of rotor current changes along with the rotor speed to keep the frequency of the stator voltage stable. The d  axis rotor current idr shown in Fig. 6(d) is nearly stable while iqr is changing, which means that the proposed excitation control strategy realizes the decouple control of the active power and reactive power. The experimental results in Fig.6 shows the good static and dynamic performance of the system whether under power-mode control or under speed- mode control and smooth switch from one control mode to another.

rotor speed (r/min)

2250

rotor phase current (A)

0

-2.5

0

2

4

6

8

10 t/s

12

14

16

18

20

d - axis rotor current (A)

q - axis rotor current (A)

(c) 2.4 1.2 0 -1.2

1.2

0

0

2

4

6

8

10 t/s

12

14

16

18

20

(d) Fig.6 Experiment results of energy storage, active power generation, speed limitation and floating charge state

1500

750 0

1.2 0

-1.2

2

4

6

8

10 t/s

12

14

16

18

d - axis rotor current (A)

rotor speed (r/min) q - axis rotor current (A)

2.5

Fig.7 is the experiment results of implementing the reactive power generation function with the rotor speed keeping at 1700r/min. The stator reactive power reference value Qs* is -1500Var or 0. Fig.7 (a) shows d  axis rotor current i dr and stator reactive power Qs . Fig.7 (b) and (c) show the rotor phase current i ra and the stator phase current i sa . The q  axis rotor current i qr shown in Fig.7 (d) is nearly stable while i dr is changing, which proves the decouple control of the active power and reactive power.

0

20

stator side reactive power (W)

(a)

rotor speed (r/min)

750 0

2250

2250 1500 750

0

stator side active power (W)

1500

2.4 0 0 -1000

-2000

0

700

1

2

3

4

0

(a)

-700

0

2

4

6

8

10 t/s

12

14

16

18

20

(b)

96

5 t/s

6

7

8

9

10

REFERENCE [1] J. Y. Wen, G. Li, and S. J. Cheng, “A multi-functional flexible power conditioner for power system stabilities enhancement,” Proceeding of the CSEE, vol. 25, no. 25, pp.6-11, Dec. 2005 [2] H. Yang, J. Y. Wen, and G. Li, “Investigation on operation characteristics of multi-functional flexible power conditioner”. Proceedings ofe CSEE, vol. 26, no. 2, pp.19-24, Jan. 2006 [3] G. Li, J. Y. Wen, and S. J. Cheng, “Investigation on start and cut-in of the multi-function flexible power conditioners,” Proceeding of Automation of Electric Power Systems, vol. 30, no. 3, pp.17-22, Jan. 2006 [4] H. Fujita, H. Akagi, M. Tan, and S. Ogasawara. “Occurrence and suppression of DC-flux deviations in a doubly-fed flywheel generator system,” in Proc. IEEE 38th Industry Application Conference, vol. 3, pp. 1766-1771, Oct. 2003 [5] H. Akagi, and H. Sato “Control and performance of a doubly-fed induction machine intended for a flywheel energy storage system,” IEEE Trans. Power Electronics, vol.17, no.1, pp.109-116, Jan. 2002 [6] H. Akagi, and H. Sato. “Control and performance of a flywheel energy storage system based on a doubly-fed induction generator-motor for power conditioning,” in Proc. IEEE 30th Power Electronics Specialists Conference, vol. 1, pp. 32-39, July 1999 [7] J. C. Zhang, Z, Y. Chen, L. J. Cai, and Y. H. Zhao. “Flywheel energy storage system design for distribution network,” in Proc. IEEE Power Engineering Society Winter Meeting, vol. 4, pp. 23-27, Jan. 1999 [8] A. Tapia, G. Tapia, J. X. Ostolaza, and J. R. Sanenz, "Modeling and control of a wind turbine driven doubly fed induction generator," IEEE Trans. Energy Convers., vol. 18, no. 2, pp.194-204, June 2003. [9] Park, J.W.; Lee, K.W.; Lee, H.J.; "Control of active power in a doubly-fed induction generator taking into account the rotor side apparent power," in Proc. IEEE 35th Power Electronics Specialists Conference, Vol. 3, pp. 2060 – 2064, June 2004. [10] R. Pena, J. C. Clare, and G. M. Asher, "Doubly fed induction generator using back-to-back PWM converters and its application to variable-speed wind-energy generation," in Proc. Int. Elec. Eng., Electr. Power Appl., vol. 143, no. 3, pp.231-241, May 1996. [11] X. D. Zou, Research on VSCF AC Excitation Doubly Fed Wind Energy Generation System and Its Control Technology, Doctor Dissertation. Wuhan: Huazhong University of Science and Technology, 2005. [12] R. Datta, and V. T. Ranganathan, "A method of tracking the peak power points for a variable speed wind energy conversion system," IEEE Trans. Energy Convers., vol. 18, no. 1, pp. 163168, Mar. 2003. [13] T. Yifan, and X. Longya, "Vector control and fuzzy logic control of doubly fed variable speed drives with DSP implementation," IEEE Trans. Energy Convers., vol. 10, no. 4, pp.661-668, Dec. 1995.

rotor phase current and d - axis rotor current (A)

ira

idr

ira idr

stator phase current and d - axis rotor current (A)

(b)

isa idr

isa idr

q - axis rotor current (A)

d - axis rotor current (A)

(c)

2.4 0

0

-1.2

0

1

2

3

4

5 t/s

6

7

8

9

10

(d) Fig.7 Experiment results for reactive power generation state

VI. CONCLUSIONS Base on a third-order model of FPC DFIM, this paper puts forward the excitation control strategy of FPC DFIM. In order to implement the normal operation and realize the multi-functions including energy storage, active power generation, reactive power generation, speed limitation and floating charge state, the control system mutually switches between speed-mode control and power-mode control. To verify the proposed control strategy, experimental research is done on a small capacity experimental set. The multi-functions of FPC are implemented with satisfactory characteristics.

97

Research on Excitation Control of Flexible Power ... - IEEE Xplore

induction machine; direct-start; Back-to-back converters;. Speed control mode. I. INTRODUCTION. The power imbalance caused by power system fault.

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