A new reactive power scheduler control algorithm for the distributed voltage regulation with PQ inverters is proposed in this research. An elegant approach to achieve voltage regulation in utility grid is proposed thr...
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ISBN:
(纸本)9781479903375
A new reactive power scheduler control algorithm for the distributed voltage regulation with PQ inverters is proposed in this research. An elegant approach to achieve voltage regulation in utility grid is proposed through appropriate control of the renewable energy systems. PQ inverter capable of producing the reactive power is used to either achieve local voltage regulation or produce the reactive power commanded from the outer voltage regulator in the upper hierarchy of the grid management system. The proposed PQ scheduler and PQ inverters will work harmoniously in the local substation with minimum communication interface. The proposed control techniques achieve efficient utilization of the PQ inverters with maximum efficiency. The proposed energy network and the control algorithms are modeled at the system level to verify the effectiveness of the proposed system architecture.
This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algo...
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ISBN:
(纸本)9781467357159
This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to drive the UAV toward the tangent of prescribed orbit when the UAV is outside or on the orbit, and (ii) apply zero control input if the UAV is inside the desired orbit. The algorithms differ in that, the first algorithm is smooth and unsaturated while the second algorithm is non-smooth and saturated. By analyzing properties associated with the bearing angle of the UAV relative to the target and through proper design of Lyapunov functions, it is shown that both algorithms produce the desired orbit for an arbitrary initial state. Two examples are provided as a proof of concept.
In this paper, the Finite Control Set Model Predictive Control (FSC-MPC) is used to control the multi-level neutral point clamped converter of each station in a four-terminal VSC-based Multi-Terminal HVDC system (MTDC...
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ISBN:
(纸本)9781479902255
In this paper, the Finite Control Set Model Predictive Control (FSC-MPC) is used to control the multi-level neutral point clamped converter of each station in a four-terminal VSC-based Multi-Terminal HVDC system (MTDC). Three stations of MTDC are controlled to track desired reference power and one station is controlled to keep the DC side voltage in the desired value. The FCS-MPC controller is designed to keep a tradeoff between current tracking error, switching frequency and capacitor voltage balancing. The measurement and computation delay is considered by applying two steps ahead prediction in control algorithm. The validity of the proposed controller is confirmed by simulations.
In this paper we describe an approach for humanoid robot balance recovery that combines a novel attitude control algorithm adding compliance to the robot's behavior and increasing the smoothness of its motion, and...
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ISBN:
(纸本)9781467363563
In this paper we describe an approach for humanoid robot balance recovery that combines a novel attitude control algorithm adding compliance to the robot's behavior and increasing the smoothness of its motion, and an omnidirectional stepping strategy that can trigger one or two steps based on a measured disturbance vector. The proposed method is validated through experiments with the inherently compliant humanoid COMAN.
Today's data centers are facing extreme challenges in providing low latency and high throughput simultaneously for their applications. However, the fair sharing congestion control algorithms, together with the has...
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ISBN:
(纸本)9781479913510
Today's data centers are facing extreme challenges in providing low latency and high throughput simultaneously for their applications. However, the fair sharing congestion control algorithms, together with the hash-based load balancing mechanisms, seriously impede the satisfaction of such requirements. In this paper, we use threshold-based signaling and marking schemes to seamlessly integrate load balancing with congestion control protocols. Through adaptive per-packet load balancing, we evenly split network traffic across multiple paths. Meanwhile, we adaptively react to ECN in the case of congestion, and prioritize flows according to their latency requirements. Using realistic data center workloads, we show that, compared to the state-of-the-art load balancing and TCP, our approach improves the application throughput and mean flow completion time by 30-50% and 40-80%, respectively.
We provide a constructive global discontinuous control law with state dependent switches for a class of under-actuated nonlinear mechanical robotic systems that will drive the system to an arbitrarily small neighborho...
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ISBN:
(纸本)9781479909964
We provide a constructive global discontinuous control law with state dependent switches for a class of under-actuated nonlinear mechanical robotic systems that will drive the system to an arbitrarily small neighborhood of rest from all initial configurations and velocities in arbitrarily small time. Because all physical mobile robotic systems are mechanical in nature, control methodologies which exploit the fact that the system is governed by principles of mechanics which are particularly important for robotic engineers. The philosophy of the approach is that instead of using control algorithms which start with a completely generic dynamical system, we constrain the structure of the system to be one which is a Lagrangian control system. To the extent the structure of the mechanical system can be exploited, stronger control results are possible to obtain, such as the stopping algorithm in this paper. Specifically, for control of general nonlinear systems, there are many unsolved problems for the case when the system is not at an equilibrium, and the results in this paper are an initial contribution to this area. The robot is assumed to be underactuated by one in the configuration space;hence, in the state space it is underactuated by twice the dimension of the configuration space plus two. Our method can easily be extended to construct a global discontinuous control law with state dependent switches that will drive the system to an arbitrarily small neighborhood of any velocity from any initial configuration and velocity in arbitrarily small time.
This paper proposes a control scheme for an asymmetric cascaded multilevel inverter with a single DC source. This control approach permits a unique DC source generate three-phase current with one main cell and one flo...
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ISBN:
(纸本)9781479902255
This paper proposes a control scheme for an asymmetric cascaded multilevel inverter with a single DC source. This control approach permits a unique DC source generate three-phase current with one main cell and one floating cell per phase. Main cell are handled by using a space vector control and floating cells are controlled by a predictive control strategy. This strategy is used to control the floating capacitors voltages to maintain an asymmetry to maximize the number of levels of the load voltage and also manage the reactive power to reduce the harmonics produced by the main cell, which also provides the active power to the load. Finally, the proposed control algorithm improves the load current quality with a reduce number of calculation. Results are presented in simulations.
In this paper we consider a house heated by a domestic heat pump. We estimate the economical savings that can be achieved by moving the electrical heat pump load in time according to the time-varying value of electric...
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ISBN:
(纸本)9781479901777
In this paper we consider a house heated by a domestic heat pump. We estimate the economical savings that can be achieved by moving the electrical heat pump load in time according to the time-varying value of electricity. Real data from an inhabited typical Danish house is used to estimate a simple thermal house model. Based on this model and based on the electricity spot prices, we design a control algorithm that seeks to minimize the cost of house heating. Via simulations on a model of a typical Danish single-family house, we show that economical savings in the magnitude of 7 % can be achieved during winter by allowing slightly higher variations in the indoor temperature. Further we show that these economical savings are upper bounded by 12 % for the particular case.
There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms...
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ISBN:
(纸本)9781479900022
There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle as well as the environmental conditions and lend themselves to seamless integration with control and navigation systems. The latter connection is for the most part eschewed in the literature, in spite of the obvious fact that in order for the vehicles to execute the planned motions they must at a later stage navigate with great accuracy and follow the trajectories using control algorithms that take explicitly into account the dynamical constraints of the vehicles involved. Among the methods available for underwater vehicle navigation, terrain-based techniques have recently come to the fore. These techniques avoid the use of overly expensive inertial-like motion sensor units and hold considerable promise for the development of a new breed of affordable long range navigation systems. Motivated by these considerations, we tackle in the present paper the problem of multiple vehicle motion planning by taking explicitly into consideration inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, acoustic communication constraints, and the maximization of terrain information along the vehicle paths (as measured by some appropriate criterion) for terrain-based navigation purposes.
This paper investigates the controllability of a 6-phase single winding bearingless permanent magnet (PM) slice machine drive system under a variety of power electronic short-circuit conditions and the proper control ...
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ISBN:
(纸本)9781479903375
This paper investigates the controllability of a 6-phase single winding bearingless permanent magnet (PM) slice machine drive system under a variety of power electronic short-circuit conditions and the proper control algorithms to accomplish the successful rotor levitation under these short-circuit faults. Analysis shows that the bearingless PM slice machine drive system is only controllable under the following short-circuit fault conditions: 1) short circuit in one single phase winding, 2) short circuit in two adjacent phase windings, and 3) short circuit in two opposite phase windings. Experiments are performed for the above three short-circuit fault conditions to verify the proposed control algorithms.
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