Sliding Mode Observers are a mature technology and widely employed in sensorless motor drive systems. However, most of the content available in the literature deals with continuous-time observers and some details of t...
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ISBN:
(纸本)9781665469258
Sliding Mode Observers are a mature technology and widely employed in sensorless motor drive systems. However, most of the content available in the literature deals with continuous-time observers and some details of them are not properly addressed. This paper presents contributions to the discrete-time sliding mode observers for permanent magnet synchronous motor drive systems. The sliding mode observed covered in this paper is based on the Sigmoid function instead of Sign function, thus reducing the problems of chattering. Details of this function are carefully explained in discrete-time framework. Besides that, this papers describes discrete-time differentiators and integrators with superior performance over the conventional ones, since these functions play an important role in the system performance. Case studies with hardware-in-the-loop tests are conducted to show that the contributions of this paper can help designers to employ observers for motor drive systems in a straightforward manner.
In recent years significant progress has been made in optimization-based planning and control for automated vehicle operation. For heavy-duty vehicles, the research focus has been on platooning and control of articula...
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ISBN:
(数字)9781665473385
ISBN:
(纸本)9781665473385
In recent years significant progress has been made in optimization-based planning and control for automated vehicle operation. For heavy-duty vehicles, the research focus has been on platooning and control of articulated vehicles especially when cruising on the highway. This paper proposes an integrated system using a motion planning algorithm and a real-time reference tracking controller, tailored to the task of automated tractor-trailer hitching which is a critical maneuver in heavy-duty vehicle operations, due to requiring a very high precision. The motion planner is based on a bi-directional Asearch guided tree algorithm and the tracking controller is implemented using nonlinear model predictive control. To validate the proposed approach, we present results from hardware-in-the-loop simulations on a dSPACE Scalexio real-time computing unit and extensive Monte Carlo closed-loopsimulations.
Digital simulation such as MATLAB/Simulink is mostly used to study the control algorithm of DC microgrid system, but the operation of microgrid system cannot be simulated realistically. Firstly, control strategy of DC...
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ISBN:
(纸本)9781665479547
Digital simulation such as MATLAB/Simulink is mostly used to study the control algorithm of DC microgrid system, but the operation of microgrid system cannot be simulated realistically. Firstly, control strategy of DC microgrid is developed and verified in this paper, then RT-LAB is used as a hardware-in-the-loop(HIL) simulation platform to realize a connection with the controller. Finally, a HIL simulation platform of 2KW DC microgrid for marine energy generation is built. The proposed method can greatly shorten the development cycle and cost of DC microgrid system for marine energy.
By using the Perturbation Theory and solidification coefficient method, based on the interpolation parameters for optimal control feedback matrix, the design of optimal roll control system for a small solid rocket is ...
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This article proposes a rate bumpless switching control approach for the turbofan control systems with actuator faults based on switched models. A characterization of the rate bump restraint is introduced, quantifying...
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The capsule train is a new concept of ground transportation that the magnetically levitated vehicle runs inside a low pressure tube. The proposed capsule train in this study is characterized by the superconducting ele...
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ISBN:
(纸本)9788993215236
The capsule train is a new concept of ground transportation that the magnetically levitated vehicle runs inside a low pressure tube. The proposed capsule train in this study is characterized by the superconducting electrodynamic suspension (SC-EDS) levitation for large levitation gap, and small size and lightweight for high speed and agile mobility. Because of these unique features, the large vibration caused from external disturbance can be easily transferred to the vehicle, resulting in the poor ride comfort. To investigate the vibration characteristics and improve the ride comfort of the proposed capsule train, we developed an analytical model for the lateral and roll motion calculation. Through simulations based on the developed model, we founded that there is distinct vibration that influences on the ride comfort. To reduce this vibration and improve the ride comfort, the magnetorheological (MR) damper as a semi-active suspension in the secondary suspension was applied, and effect was confirmed in simulations. For experimental validation of simulation results, the hardware-in-the-loop simulation (HILS) testbed including the real-size MR damper prototype was manufactured. And through HILS experiments, the effect of the MR damper on the vibration reduction and ride comfort improvement was proven.
For the simulation of a physiological capnogram with a lung simulator it is important to homogenize CO2 in the expiratory air adequately with a mixing element, while being limited in size and energy consumption. We de...
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For the simulation of a physiological capnogram with a lung simulator it is important to homogenize CO2 in the expiratory air adequately with a mixing element, while being limited in size and energy consumption. We design and test static in-line mixers based on helical blade (Kenics) design and crossbars (SMX) design for optimized homogenization of CO2 in air. We investigate the effect of design variations such as element length and number on gas homogenization and pressure loss coefficient ζ. With the chosen assessment method, we find that the SMX design mixer provides the best compromise between homogenization and pressure loss.
The tractor trailer models discussed in this paper were for a real-time hardware-in-the-loop (HIL) simulation to test heavy truck electronic stability control (ESC) systems [1]. The accuracy of the simulation results ...
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The tractor trailer models discussed in this paper were for a real-time hardware-in-the-loop (HIL) simulation to test heavy truck electronic stability control (ESC) systems [1]. The accuracy of the simulation results relies on the fidelity and accuracy of the vehicle parameters used. However in this case where hardware components are part of the simulation, their accuracy also affects the proper working of the simulation and ESC unit. Hence both the software and hardware components have to be validated. The validation process discussed in this paper is divided into two sections. The first section deals with the validation of the TruckSim vehicle model, where experimental data is compared with simulation results from TruckSim. Once the vehicle models are validated, they are incorporated in the HIL simulation and the second section discusses the validation of the whole HIL system with ESC. It is shown that the HIL simulation is able to predict the vehicle responses with a high degree of correlation even for limit dynamic maneuvers. This gives us confidence that the HIL simulations can be used to perform further, more severe tests which are not possible in the real world.
This paper presents a robust path following control law that enables a fixed-wing UAV to track a reference path under the wind disturbance. The proposed path following control law combines the kinematic control law fo...
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This paper presents a robust path following control law that enables a fixed-wing UAV to track a reference path under the wind disturbance. The proposed path following control law combines the kinematic control law for regulating the distance error to the moving reference point and the command-filtered backstepping scheme for obtaining the roll command of the UAV. Unlike the conventional backstepping scheme, the command-filtered backstepping scheme avoids the numerical differentiation to compute the filtered derivative of the desired course angle command, which increases the overall system robustness. Along with the rigorous theoretical proof, the performance of the proposed control law is evaluated via the hardware-in-the-loop simulations and the flight tests. The experimental results show that the improved tracking performance as well as the enhanced robustness, proving the applicability of the proposed algorithm in the various mission of the fixed-wing UAV in wind disturbance environment
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