In repetitive control, the enhanced servo performance at multiple repetitive frequencies is usually followed by undesired error amplifications at other frequencies. This paper presents a new structural configuration o...
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ISBN:
(纸本)9781467325769
In repetitive control, the enhanced servo performance at multiple repetitive frequencies is usually followed by undesired error amplifications at other frequencies. This paper presents a new structural configuration of the internal model principle in repetitive control, wherein designers have more flexibility in the repetitive loop-shaping design, and amplification of non-repetitive errors can be greatly reduced. The proposed algorithm is particularly advantageous when repetitive control is required in environments where large amounts of non-repetitive disturbances exist. Verification of the algorithm is provided in a benchmark regulation problem of hard disk drives.
A real-time system has been successfully used since 2004 in the RFX-mod nuclear fusion experiment to control the position of the plasma and its Magneto Hydrodynamic (MHD) modes. However, its latency and the limited co...
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ISBN:
(纸本)9781467310826;9781467310833
A real-time system has been successfully used since 2004 in the RFX-mod nuclear fusion experiment to control the position of the plasma and its Magneto Hydrodynamic (MHD) modes. However, its latency and the limited computation power of the used processors prevented the usage of more aggressive control algorithms. Therefore a new hardware and software architecture have been designed to overcome such limitations and to provide a shorter latency and a much increased computation power. The new system is based on a Linux multi-core server and uses MARTe, a framework for real-time control which is gaining interest in the fusion community.
The paper(1) is concerned with the operation in dynamic regime of an induction motor drive operated into deep flux weakening operation. Based on the induction motor's mathematic model, an algorithm for sensorless ...
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ISBN:
(纸本)9781467318105
The paper(1) is concerned with the operation in dynamic regime of an induction motor drive operated into deep flux weakening operation. Based on the induction motor's mathematic model, an algorithm for sensorless direct flux vector control (SDFVC) was implemented. The control schematic for SDFVC is described. The stator flux amplitude is controlled by the ds axis voltage component, while the load angle (and thus the torque) is regulated by the q(s)-axis voltage component. The proposed algorithm is suitable for low cost induction motor drives where accuracy in the speed estimation is not mandatory and is based on a closed-loop stator flux observer. The vector control block is realised with two PI regulators, the output of this regulators being the reference voltages in the stator coordinates oriented along the stator flux. The authors studied the behavior of a drive system in the field weakening zone, in order to get a maximum torque considering the limitations imposed to currents and voltages. The system was also tested in transient regimes of acceleration and deceleration, the stationary regime being studied too. The experimental data gathered during the accomplishing of the drive system tests when the control algorithm was employed are presented and discussed in the end. The tested three phase induction motor has a power of 4 kW.
In this paper, a finite control set predictive control in cascade with PI controller is presented for a three-phase neural point clamped boost rectifier. The control algorithm consists of a finite control set predicti...
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ISBN:
(纸本)9781922107633
In this paper, a finite control set predictive control in cascade with PI controller is presented for a three-phase neural point clamped boost rectifier. The control algorithm consists of a finite control set predictive control for inner current loop in synchronous reference frame and a PI voltage control for the outer-loop system. There are two reference signals for this cascade controller, one being the de link voltage reference and the other q-axis current reference, which are used to regulate the de link voltage and achieve an unity power factor. A physical model is used for the design of finite control set predictive controller in the inner-loop and an empirical model is used for the design of PI controller for the outer-loop. Simulation results show the satisfactory closed-loop control performance for the de-link and the q-axis current regulation.
This paper presents a new tool designed to allow for rapid development and testing of different control algorithms for airborne spacing. This tool, Interval Management Modeling and Spacing Tool (IM MAST), is a fast-ti...
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ISBN:
(纸本)9781467317009
This paper presents a new tool designed to allow for rapid development and testing of different control algorithms for airborne spacing. This tool, Interval Management Modeling and Spacing Tool (IM MAST), is a fast-time, low-fidelity tool created to model the approach of aircraft to a runway, with a focus on their interactions with each other. Errors can be induced between pairs of aircraft by varying initial positions, winds, speed profiles, and altitude profiles. Results to-date show that only a few of the algorithms tested had poor behavior in the arrival and approach environment. The majority of the algorithms showed only minimal variation in performance under the test conditions. Trajectory-based algorithms showed high susceptibility to wind forecast errors, while performing marginally better than the other algorithms under other conditions. Trajectory-based algorithms have a sizable advantage, however, of being able to perform relative spacing operations between aircraft on different arrival routes and flight profiles without employing 'ghosting' methods. This comes at the higher cost of substantially increased complexity, however. Additionally, it was shown that earlier initiation of relative spacing operations provided more time for corrections to be made without any significant problems in the spacing operation itself. Initiating spacing farther out, however, would require more of the aircraft to begin spacing before they merge onto a common route.
The paper presented a control scheme for parallel drive system of double Switched Reluctance machines. The fuzzy control algorithm is adopted in the main controller for closed-loop rotor speed control of main machine....
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ISBN:
(纸本)9781467301589
The paper presented a control scheme for parallel drive system of double Switched Reluctance machines. The fuzzy control algorithm is adopted in the main controller for closed-loop rotor speed control of main machine. The sliding mode control algorithm is adopted in the subordinate controller for synchronized rotor speed and loads equilibrium distribution between main machine and subordinate machine. The deviation between the given rotor speed and the feedback rotor speed of the main machine, the variation from the deviation of the rotor speed are the input parameters of the main fuzzy controller. The duty ratio of pulse width modulation signal of the main controller can be gained by the fuzzy control algorithm. The deviation between the average values of DC bus supply current for main power converter and the average values of DC bus supply current for subordinate power converter, and the deviation between the actual rotor speed of the main machine and the subordinate machine are the input parameters of the subordinate VSS controller. The duty ratio of pulse width modulation signal of the subordinate VSS controller can be gained by the sliding mode control algorithm. The nonlinear simulation results of the system based on MATLAB-Simulink show that the advanced scheme is satisfied with the requirement for storage battery electric locomotives driven by the parallel drive system of double Switched Reluctance machines.
In an emergency situation prior to an imminent accident, first in-vehicle warning systems would intervene and aim to make the driver to take a suitable action. If the risk of accident was not eliminated, then an auton...
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ISBN:
(纸本)9781467321181
In an emergency situation prior to an imminent accident, first in-vehicle warning systems would intervene and aim to make the driver to take a suitable action. If the risk of accident was not eliminated, then an autonomous collision avoidance manoeuvre can prevent it. In this work, path and speed control are intended to be used to perform such a manoeuvre by using steering and braking actuators respectively. In order to provide actuators with suitable control inputs, first a path is planned for the heavy vehicle to follow during the manoeuvre. Then the path is used to calculate feedforward control inputs whereas a feedback controller assures the path tracking by compensating for errors. As a result, a robust path planning and control algorithm is designed and implemented that can perform autonomous collision avoidance manoeuvres for a heavy vehicle. Promising simulation results support ongoing works on vehicle demonstration and experiments on a real heavy vehicle.
Manufacturing systems belong to a class of discrete-event systems. Main research objectives here include development of suitable models for manufacturing systems and their analysis. Moreover, various control algorithm...
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ISBN:
(纸本)9781467345057
Manufacturing systems belong to a class of discrete-event systems. Main research objectives here include development of suitable models for manufacturing systems and their analysis. Moreover, various control algorithms are being developed to maximize utilization and throughput, while trying to achieve acceptable level of time and space complexity. In general, there is always a trade off between given objectives. In this paper we propose an exact mathematical procedure to relate matrix model of manufacturing systems and control policy based on Banker's algorithm. Matrix model allows straightforward application in industrial systems as well as structural analysis. On the other side, it gives a framework for application of various versions of Banker's algorithm.
This paper presents design and implementation of multiple maximum power point trackers (MPPTs) with wide input voltage variation for dc distribution systems. The topology of the proposed MPPT combines buck and boost c...
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ISBN:
(纸本)9781457712166
This paper presents design and implementation of multiple maximum power point trackers (MPPTs) with wide input voltage variation for dc distribution systems. The topology of the proposed MPPT combines buck and boost converters to accommodate PV input voltage from 0 V to 850 V. The control algorithm for tracking maximum power points is based on a "perturbation and observation" method. The proposed MPPT can on-line check the input configuration of PV-panel strings to determine the current for maximum power calculation. In the paper, operational principle, analysis and design of the proposed MPPT configuration and mode transition will be first presented. Flowcharts of the control algorithm include perturbation and observation method and on-line PV-panel string configuration check will be then explained. Experimental results obtained from three-string MPPTs with the maximum power of 10 kW have verified its performance and feasibility.
This paper presents a hybrid dynamic control approach to acquire biped walking of humanoid robots focussed on policy gradient episodic reinforcement learning with fuzzy evaluative feedback. The proposed structure of c...
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ISBN:
(纸本)9781467344975
This paper presents a hybrid dynamic control approach to acquire biped walking of humanoid robots focussed on policy gradient episodic reinforcement learning with fuzzy evaluative feedback. The proposed structure of controller involves two feedback loops: conventional computed torque controller and episodic reinforcement learning controller. Reinforcement learning part includes fuzzy information about Zero-Moment Point errors. To demonstrate the effectiveness of our method, simulation tests using middle-size 36 DOFs humanoid robot MEXONE are performed.
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