This paper presents a comparison between Field Oriented Control and Direct Torque Control methods of a Matrix Converter-fed (MC) Permanent Magnet Synchronous Motor (PMSM). MC is becoming widely used because of the uni...
详细信息
ISBN:
(纸本)9781538624029
This paper presents a comparison between Field Oriented Control and Direct Torque Control methods of a Matrix Converter-fed (MC) Permanent Magnet Synchronous Motor (PMSM). MC is becoming widely used because of the unity power factor and the lack of energy storage element. FOC method calculates the duty of MC states with use of geometric relations between voltage and current vectors. DTC method, on the other hand, is based on controlling the length and angle of a stator flux linkage vector with MC states chosen from a Switching Table. Simulation research of control algorithms was performed in MATLAB/Simulink 2013b. Authors compared the quality of moment regulation in both methods, including the electromagnetic torque rise time and torque variance. Moreover, influence of a control algorithm on the power grid current was researched in frequency domain by FFT and THD. DTC method for MC proved to be faster in torque control. FOC method, however, has visibly lower torque ripples and lower THD. Both methods performed well in a torque regulation of a MC fed motor.
In this paper a Crazyflie 2.0 nano quadrotor helicopter (quadcopter) as an open source experimental platform for research and education in robotics and control engineering has been presented. This low cost, easily exp...
详细信息
ISBN:
(纸本)9781538624029
In this paper a Crazyflie 2.0 nano quadrotor helicopter (quadcopter) as an open source experimental platform for research and education in robotics and control engineering has been presented. This low cost, easily expandable and upgradeable flying robot is here characterized in terms of hardware and software. Three aspects, which demonstrate the potential of broad use of this unmanned aerial vehicle (UAV) by researchers and students, are discussed in the paper. The first one is an acquisition of measurement data from test flights by the proposed, freely available "black-box" software. The second is the use of a new, advanced 4FLY Simulator in order to utilize the MATLAB (R)/Simulink environment to easily implement a mathematical model of Crazyflie 2.0 dynamics, as well as for a synthesis of various types of controllers with support of OpenGL cross-language in the visualization of simulations results. The 4FLY Simulator allows to test autonomous flights (and landings) with obstacles avoidance and to conduct learning and teaching the basics of Crazyflie 2.0 piloting. In the third aspect the authors outlined promising, preliminary results obtained in control of flying robot by pointing device (positioner) and with the support of a vision system, which basis only on a single Kinect sensor.
The following topics are dealt with: control theory; systems theory; navigation systems; adaptive control; fractional order systems; distributed parameter systems; identification; robotic manipulators; sliding mode co...
The following topics are dealt with: control theory; systems theory; navigation systems; adaptive control; fractional order systems; distributed parameter systems; identification; robotic manipulators; sliding mode control; optimization; scheduling; AI methods; speech processing; speech recognition; biomedical signals; predictive control; robust control; image processing; signal processing and networked control systems.
Backstepping-based, robust stabilization procedure for nonlinear systems with time-varying parameters is presented. First a general approach for nonlinear parameter dependence is developed, then the special case of a ...
详细信息
Backstepping-based, robust stabilization procedure for nonlinear systems with time-varying parameters is presented. First a general approach for nonlinear parameter dependence is developed, then the special case of a linear-in-parameters system is considered. Possible simplifications of the design and benefits of this system structure are discussed and illustrated by examples.
The aim of this note is to exploit ν-similarity of birth-death processes in one-dimensional case. In particular, a sufficient condition for two processes being similar is derived. We also give formulas for birth and ...
详细信息
The aim of this note is to exploit ν-similarity of birth-death processes in one-dimensional case. In particular, a sufficient condition for two processes being similar is derived. We also give formulas for birth and death rates of similar processes. An example to illustrate the results is provided.
The paper concerns the problem of the numerical simulation of hybrid systems with sliding modes. We give an overview of the numerical simulation procedures which have been described in the literature and next we prese...
详细信息
The paper concerns the problem of the numerical simulation of hybrid systems with sliding modes. We give an overview of the numerical simulation procedures which have been described in the literature and next we present our proposition of the simulation code. What differs our solution from others is the utilization of differential-algebraic equations (DAEs) during the simulation of a sliding motion phase. We discuss our solution in detail and present the numerical results for simulation of the exemplary nonlinear system.
The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a sp...
详细信息
The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together with the remaining unknown parameters.
In this paper an advanced control system for an elastic joint two-link flexible link robot manipulator is considered. The system uses controller with an adaptive fuzzy logic. Nonlinear friction in the joints is modele...
详细信息
In this paper an advanced control system for an elastic joint two-link flexible link robot manipulator is considered. The system uses controller with an adaptive fuzzy logic. Nonlinear friction in the joints is modeled by the Hammerstein system. It is identified by the algorithm based on nonparametric nearest neighbor regression estimation. The asymptotically optimal choice of the parameters of the algorithm are investigated.
暂无评论