The Steam Generator (SG) is a crucial component of a nuclear power plant. Proper water level control in a nuclear steam generator is of great importance to ensure a sufficient cooling source for the nuclear reactor an...
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The Steam Generator (SG) is a crucial component of a nuclear power plant. Proper water level control in a nuclear steam generator is of great importance to ensure a sufficient cooling source for the nuclear reactor and to prevent damage to turbine blades. The water level control problem of steam generators has been a leading cause of unexpected shutdowns in nuclear power plants, which must be addressed for plant safety and availability. The control problem is challenging, particularly at low power levels due to shrink and swell phenomena and flow measurement errors. Furthermore, the dynamics of the steam generator vary as the power level changes. Therefore, there is a need to enhance the water level control system of the SG. In this paper, a Gain Scheduled Internal model Control (IMC) based on the dynamicslidingmode (DSMC) method is developed for the level control problem. The proposed method exhibits the desired dynamic properties throughout the entire output tracking process, independent of perturbations. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness, and stability. The simulation results confirm the improvement in transient response achieved by using the proposed controller.
Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to m...
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Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamicslidingmode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.
Abstract In this paper, a dynamic sliding mode controller (DSMC) is proposed for trajectory tracking control of a nonholonomic Wheeled Mobile Robot (WMR) in which the centroid doesn't coincide to the connection ce...
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Abstract In this paper, a dynamic sliding mode controller (DSMC) is proposed for trajectory tracking control of a nonholonomic Wheeled Mobile Robot (WMR) in which the centroid doesn't coincide to the connection center of driving wheels. This robust controller is designed based on the developed dynamical model of WMR in Cartesian coordinates, therefore, the application limits in polar coordinates is removed. The asymptotic stability and the convergence of WMR to the desired position, velocity and orientation trajectories are proved according to the Lyapanove's direct method. Simulation results show the superiority of the proposed DSMC to the recent methods.
This paper concerns slidingmode control problems for a class of descriptor Markovian jump systems with mode-dependent derivative-term coefficient. Firstly, a necessary and sufficient condition, under which such type ...
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This paper concerns slidingmode control problems for a class of descriptor Markovian jump systems with mode-dependent derivative-term coefficient. Firstly, a necessary and sufficient condition, under which such type descriptor Markovian jump systems with mode-dependent derivative-term coefficient are stochastically admissible, is proposed by means of the strictly linear matrix inequality (LMI) technique. Then a novel sliding surface function, in terms of both system states and inputs, is proposed for descriptor Markovian jump systems with mode-dependent derivative-term coefficient and a dynamic sliding mode controller is synthesized, which ensures the reachability of predefined sliding surface in finite time. It is also shown that the stochastic admissibility of the overall closed loop systems can be determined by checking the feasibility of a series of LMIs. Finally, an illustrative example on DC motor is provided to demonstrate the effectiveness of the theoretical results.
This paper deals with the level control of a prototyped Split Range Plant Process. The conventional PID controller is initially applied to the process and the results are obtained. As the system takes a large settling...
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ISBN:
(纸本)9781479982523
This paper deals with the level control of a prototyped Split Range Plant Process. The conventional PID controller is initially applied to the process and the results are obtained. As the system takes a large settling time the following two controllers are also implemented. Apart from lowering the settling time, to increase the robustness of the system slidingmode Control (SMC) and dynamicslidingmode Control (DSMC) are applied to the same system and the results are compared. To make the system more user friendly the whole programming is done in LabVIEW (Laboratory Virtual Instrument Workbench) software. This software is based on graphical programming technique. The objective of this paper is to present the response of all the three controllers on the prototype split range plant.
U-Tube Steam Generator (UTSG) is one of the most important facilities in a pressurized-water nuclear reactor. Poor control of the Steam Generator (SG) water level in the secondary circuit of a nuclear power plant can ...
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U-Tube Steam Generator (UTSG) is one of the most important facilities in a pressurized-water nuclear reactor. Poor control of the Steam Generator (SG) water level in the secondary circuit of a nuclear power plant can lead to frequent reactor shutdowns or damage of turbine blades. The control problem is challenging, especially at low power levels due to shrink and swell phenomena and flow measurement errors. In addition, the dynamics of steam generator vary as the power level changes. Therefore, designing a suitable controller for all power levels is a necessary step to enhance the plant availability factor. The purpose of this paper is to design, analyze and evaluate a water level controller for U-tube steam generators using dynamicslidingmode control. The employed method is easy to implement in practical applications and moreover, the dynamicslidingmode control exhibits the desired dynamic properties during the entire output-tracking process independent of perturbations. Gain scheduling is used to obtain a global water level controller. Simulation results are presented to demonstrate the performance, robustness, and stability of the proposed controller. Computer simulations show that the proposed controller improves the transient response of steam generator water level and demonstrates its superiority to existing controllers. (C) 2011 Elsevier Ltd. All rights reserved.
U-Tube Steam Generator (UTSG) is one of the most important facilities in a pressurized-water nuclear reactor. Poor control of the Steam Generator (SG) water level in the secondary circuit of a nuclear power plant can ...
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U-Tube Steam Generator (UTSG) is one of the most important facilities in a pressurized-water nuclear reactor. Poor control of the Steam Generator (SG) water level in the secondary circuit of a nuclear power plant can lead to frequent reactor shutdowns or damage of turbine blades. The control problem is challenging, especially at low power levels due to shrink and swell phenomena and flow measurement errors. In addition, the dynamics of steam generator vary as the power level changes. Therefore, designing a suitable controller for all power levels is a necessary step to enhance the plant availability factor. The purpose of this paper is to design, analyze and evaluate a water level controller for U-tube steam generators using dynamicslidingmode control. The employed method is easy to implement in practical applications and moreover, the dynamicslidingmode control exhibits the desired dynamic properties during the entire output-tracking process independent of perturbations. Gain scheduling is used to obtain a global water level controller. Simulation results are presented to demonstrate the performance, robustness, and stability of the proposed controller. Computer simulations show that the proposed controller improves the transient response of steam generator water level and demonstrates its superiority to existing controllers. (C) 2011 Elsevier Ltd. All rights reserved.
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