‘spplestons. For most robots, for example, just moving the and ‘lector of the robot arm fom poit "At pln "Bis aulcant ‘Wis, however, eaten thatthe end effector follows 8 prevouty cme jay whl osing Fo ahave tha every att motion of mots tees the rt eflestor Song sete, ‘Unite most af the convertonsl positional conta, the tack ing contre do of employ constant paramore, Tho severe tno tha peremeters ofthe tacking conralers aro aaaptvel emang ing te achive two basi objectives 1 to provide the best pesibe tracing performance without ovestessing tha hardware; and 2) %0 tsnance the system robustness Inthe applications where the pa. fometers o she load or tho dive systar oo changing, the fobus. hese of the eontoler i¢2 base requrement. Ped paramatars Contos, auch athe PIO cannot be conalgeed robust in his paper, a Bushless de spat i proposed fx high pedo mance tracing (or trajectory cattal. The cant ofthe aystom 12 bored on the theory af the Varabie Stucture Tracking Conttl TS¥E). The entre sytem ia tested inthe lboratory. The system Sezacy atone Ging dtubonces an yt variant “Tent Ress ‘The VSTC technique is not reicted to any shape of track. Any reaction, howover, i imposed by the systems Rardware ita tions Toradce any unnecesssry stan, the tock shou conform tats the dynamics of tha system, 1S samole ofthe Isboratory tor is shown in Fite 1. n this ace the machena load was tentonayssturbed savers timae whe the motor was tracing its wajectoris. The dturbonce wos equiva lont"o 100% change in losd ‘orgie, Both the mechanic lod tnd the syetam inowa wore starved. Ths Gisssbence wot Te sor times, The cations of the detrtance are marked ‘by erowe The track Idaeed ine) war species by the hubs ef revastons versus tine, The response ofthe brurlens ‘moter wth the proposed controls aso shown i he ure Teo ne. The tire shows thatthe system maintained excell tack Ig capability even inthe lace of unexpected large dsturboncee ‘Acknowledgment ‘Ta author would ke t acknowiadge the Bete Energy Corso ‘ium endtna Soong Company, for thes supper during the Course ot {Wis and previous relatos sues \“ Fo. 1. Pasion Tracking with Load Disturbance. 90 5M 309-5 wanuery 1931 ‘A. New Method for Determining the ‘Armature Leakage Reactance of ‘Synchronous Machines ‘A. M. ELSerafi, Senior Member, IEEE, and J. Wu. Power Systems Research Group Department of Electrical Engineering ‘Te accurate determination of the ature asage rectance of synetronous machines Ie sesental for the anclyis ‘of these mor his (i, [21 Arthough numeral tecktquee for eacalating this feactence have been supgated into teratre, here Mas not been Soractiea! method fr determining ke aceurte valve expormentnly ‘wing toto fact that sift to measure the srmoture Tenge ‘ide act. For expermental machines, sare cos eerie nthe ‘Srgape of the machines have boon usd te detect tc leacage fx In gonarl, the emature leakage restance fs usally apgrosimated bythe Pote eactance mestied at raed terminal voltage. How ver the values of the Pate reactance of synchronous mocha ‘eaiured st ate terminal voltage could be much ergo: than thse tthe mature leakage reactance. Maren and Crary 13) found that the dcroponies between the vives of to Pott reactance nd the smatre leakage eactanes of four synehronaus machines oad be ar high ar 100%. Recort investigations on exparmenta ayn thronous machines have seo resitd nthe seme ebeervstion [i Irstond of measuring the Pot roetanco et fted termina vlage March an Crary [a popossd thet massing the Pate resttan voltage ceuld eau in'6 more kage reactance. However the Spplcaton of ue mathod ie eifet since the machine Unde’ test may not be abe to stand the high valuse ofthe ald curent st thle amature age reactance swe epprxarte by te “Ths paper present 8 naw method fr datormining experimentally the armature Toakage reactance of synchronous machines” In hit ‘method, tha temal vaiage ators carant eraactenrt th {be machine unloaded and unesctd i naeded together wt 2 fpencest characteris of the machine, The armeture iakage reoctance i dared from shese two curves ing tertive tosh ‘igs, Tho armature leakage eactences a §synetwenous machines [St aiovae dela ate obtained using th proposed metho. Tait ‘olvs aro compared nth thoge of the Pater reactance of hase Imochings obtoned t verou tarminl veges, thse been found ‘hat the citerences between ‘ha valuse of the stature Tekage Teactenees obtained using the proposed method ens thate of the Pour tectances obtained at igh values of the terminal vatage sre Vary smal. Howavet, or the proposed method, the naeaed chase Terace curves canbe obtained without exceeding the safe values ot the mechinos ahd, thus, ts mthod can be sppied to the sym fheonous mechines without any rik to them ‘Siacuesere: AE Hammad aid NE. Nisaon References {1] Abdal-Hati, €. A. and Manning, C.D. “Modaling Satraon Gt Leminatad Sato Pole Synchronous Machines", Proc IEE, Vol 134, Pt 8, 1987, pp. 215-223, 121 Joseph 0. and Thomas, A. An Improved Mode! for Satu Energy Conversion, Vol C4, 1989, pp- 135-142 151 Moran LA ond Crary, 5-8, "Armartre Leakage Resctance fot Synconaus Machines”, AlEE Traneactone, Vol. 58,1995, 141 Wu, J. "Theoretical and Experimental Investontions of the roa egraiing Phanamenon in Saturated Syneonas Ma chines” Master's thesis, Unrsty of Sosxachewan, 1989.