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linear parameter varying control of wind turbines covering both partial load and full load conditions

INTERNATIONAL JOURNAL OF ROBUST AND NONlinear control 2009年第1期19卷 92-116页

作者： Ostergaard, Kasper Zinck Stoustrup, Jakob Brath, Per Vestas Wind Syst AS Turbine Control & Operat R&D DK-8900 Randers Denmark Aalborg Univ Dept Elect Syst DK-9220 Aalborg O Denmark

This paper considers the design of linear parameter varying (LPV) controllers for wind turbines in order to obtain a multivariable control law that covers the entire nominal operating trajectory. The paper first presents a controller structure for selecting a proper operating trajectory as a function of estimated wind speed. The dynamic control law is based on LPV controller synthesis with general parameter dependency by gridding the parameter space. The controller construction can, for medium- to large-scale systems, be difficult from a numerical point of view, because the involved matrix operations tend to be ill-conditioned. The paper proposes a controller construction algorithm together with various remedies for improving the numerical conditioning the algorithm. The proposed algorithm is applied to the design of a LPV controller for wind turbines, and a comparison is made with a controller designed using classical techniques to conclude that an improvement in performance is obtained for the entire operating envelope. Copyright (C) 2008 John Wiley & Sons, Ltd.

关键词： linear parameter varying control control of wind turbines gain scheduling numerical conditioning

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linear parameter varying control of Doubly Fed Induction Machines

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2016年第1期63卷 216-224页

作者： Nguyen Tien, H. Scherer, Carsten W. Scherpen, Jacquelien M. A. Mueller, Volkmar Thainguyen Univ Technol Thainguyen 250000 Vietnam Univ Stuttgart Inst Math Methods Engn Sci Numer Anal & Geometr M Dept Math D-70569 Stuttgart Germany Univ Groningen Fac Math & Nat Sci NL-9712 CP Groningen Netherlands Tech Univ Dresden Inst Elect Engn Fac Elect Engn & Informat Technol D-01069 Dresden Germany

This paper is concerned with the design of a self-scheduled current controller for doubly fed induction machines. The design is based on the framework of linear parameter-varying systems where the mechanical angular speed is considered to be a measurable time-varying parameter. The objective is to obtain robust dynamic performance for all variations of the mechanical rotor speed in a specified operating range. Employing the benefits of digital control, a continuous-to-discrete time transformation is utilized to replace the continuous-time current controller by an approximating discrete-time controller. Experimental results are provided to demonstrate the performance and robustness of the controlled system with respect to changes of the mechanical rotor speed and against stator voltage dips.

关键词： Doubly fed induction machine linear parameter varying control robustness

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Combined longitudinal and lateral dynamics regulation of autonomous vehicles via induced ℒ2-gain linear parameter varying control strategies based on parameter-dependent Lyapunov functions

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INTERNATIONAL JOURNAL OF ROBUST AND NONlinear control 2024年第10期34卷 6914-6946页

作者： Gagliardi, Gianfranco D'Angelo, Vincenzo Casavola, Alessandro Univ Calabria Dipartimento Ingn Informat Modellist Elettron & Si Arcavacata Di Rende CS Italy Univ Calabria Dipartimento Ingn Informat Modellist Elettron & Si Via Pietro BucciCubo 42-C I-87036 Arcavacata Di Rende CS Italy

This article considers a path tracking control problem for autonomous vehicles constrained to maintain a safe distance from the next vehicle in the lane. The control design problem is solved by considering a mathematical model of the vehicle that jointly describes the lateral and longitudinal dynamics. Specifically, the L-2 optimal controller is designed aimed at minimizing the orientation and position tracking errors with respect to a given reference path. Moreover, the controller is able to ensure that the vehicle can both follow a speed profile and automatically adjusts the vehicle speed to maintain a proper distance from the next vehicle. The lateral dynamic is regulated by a 2-DOF feedforward/feedback controller, where the feedforward law is implemented by exploiting an inverse kinematic model of the vehicle. On the other side, the feedback action, along with the action of the controller in charge to regulate the longitudinal dynamics, is the L-2 optimal gain-scheduling state-feedback controller. In particular, a parameter-dependent quadratic Lyapunov function approach is used to reduce the conservativeness of the solution and a suitable convex LMI optimization problem is formulated for the synthesis. The vehicle is described by a seven-degrees-of-freedom (7DOF) full-car model, with the tire-generated forces described by the classical Pacejka's Magic Formula. In order to assess the performance of the proposed control strategy, simulations have been undertaken in Matlab/Simulink by considering an autonomous vehicle driving into an urban scenario.

关键词： autonomous vehicle induced Script capital L-2-gain minimization lateral control linear matrix inequalities linear parameter varying control longitudinal control parameter-dependent Lyapunov function

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Blending methodology of linear parameter varying control synthesis of F-16 aircraft system

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JOURNAL OF GUIDANCE control AND DYNAMICS 2002年第6期25卷 1040-1048页

作者： Shin, JY Balas, GJ Kaya, MA NASA Langley Res Ctr Hampton VA 23681 USA Univ Minnesota Dept Aerosp Engn & Mech Minneapolis MN 55455 USA Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

The design of a linear parameter varying (LPV) controller for the F-16 longitudinal axes over the entire flight envelope, using a blending methodology that lets an LPV controller preserve regional optimal solutions over each parameter subset and reduces computational costs for synthesizing an LPV controller, is presented. Three blending LPV controller synthesis methodologies are applied to control F-16 longitudinal axes. By the use of a function substitution method, a quasi-LPV model of the F-16 longitudinal axes is constructed from the nonlinear equations of motion over the entire flight envelope, including nontrim regions, to facilitate synthesis of LPV controllers for the F-16 aircraft. The nonlinear simulations of the blended LPV controller show that the desired performance and robustness objectives are achieved across all altitude variations.

关键词： linear parameter varying control Angle of Attack Nonlinear Equation Elevator Aircraft Systems Aerodynamic Stability Dynamic Pressure Closed Loop System Aircraft Dynamics Wind Tunnel Tests

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Networked linear parameter varying control Framework for a Hydro Power Plant

Networked Linear Parameter Varying Control Framework for a H...

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IEEE International Conference on Electro Information Technology (EIT)

作者： Adediran, S. Yilmaz, M. Texas A&M Univ Kingsville Kingsville TX 78363 USA Tektronix Commun Plano TX 75075 USA Texas A&M Univ Kingsville Elect Engn & Comp Sci Dept Kingsville TX 78363 USA

ISBN: (纸本)9781509047673

This study presents a network controlled linear parameter varying (LPV) modeling and control framework for a hydro power plant, remotely controlled over communication networks. The controller and plant signals are assumed to be transmitted over different networks with a bounded network delay in terms of a Pade approximation and associated packet drops in terms of a polytopic LPV system, with the packet lost condition as the time varying parameter that can be measurable in future periods. The networked controlled linear parameter varying modeling and controller synthesis results illustrate the efficacy of the proposed framework on guaranteed global stability and performance of the networked controlled power system operation.

关键词： Hydro plant linear parameter varying control Networked control systems

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Flight Testing a linear parameter varying control Law on a Passenger Aircraft

Flight Testing a Linear Parameter Varying Control Law on a P...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Weiser, Christian Ossmann, Daniel Kuchar, Richard Mueller, Reiko Milz, Daniel Looye, Gertjan German Aerosp Ctr DLR Inst Syst Dynam & Control D-82234 Wessling Germany

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

To improve performance and efficiency of future aircraft generations, multi-objective control design problems considering effects such as over-actuation and lowly damped flexible modes arise from new materials in the wing design. A candidate method, which delivers a solution to this problem for the whole flight envelope is linear parameter varying (LPV) control synthesis. It already incorporates the controller scheduling in the synthesis process, guaranteeing stability and robustness over the entire scheduling envelope, and enables intuitive multi-objective, multiple-input multiple-output (MIMO) controller designs. To prove the concept of LPV controllers in a realistic environment, the flight test campaign results of LPV inner loop control laws on a Cessna Citation II (550) aircraft are presented in this paper. The implemented inner loop controllers are inspired by classical flight controllers used on state-of-the-art fly-by-wire airliners. The longitudinal motion is augmented with load-factor command and the lateral motion controller, which is inherently of MIMO type, features a roll rate command with attitude hold behavior. The control laws are validated in flight by the pilot with respect to functionality, flying and handling qualities. Furthermore, auto generated input signals are used to excite the aircraft without pilot in the loop to allow for a comparability with simulation results.

关键词： Flight Test Instrumentation Transport Aircraft linear parameter varying control control Surfaces Test Pilots Handling Qualities Multiple Input Multiple Output Cessna Citation II Flight Envelope Airliner

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Piloted Simulation Study Comparing Classical, H_∞, and linear parameter-varying control Methods

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JOURNAL OF GUIDANCE control AND DYNAMICS 2011年第1期34卷 164-176页

作者： Alvarez, Daniel J. Lu, Bei Calif State Univ Long Beach Dept Mech & Aerosp Engn Long Beach CA 90840 USA Syst Technol Inc Hawthorne CA 90250 USA

Piloted simulation is often regarded as an intermediate step between traditional desktop analysis and flight test. It is a valuable tool in the assessment of how changes in flight control system parameters affect closed-loop vehicle performance. This paper focuses on the piloted simulation evaluation of classical proportional-integral-derivative, robust H-infinity, and linear parameter-varying control design methods. Three different controllers are designed for the longitudinal flight dynamics of the F-16 variable stability in-flight simulator test aircraft within a defined flight envelope. After assessing the performance of each controller using the desktop analysis and simulation, a piloted simulation study is provided to gather qualitative pilot ratings and comments to validate or refute the results and conclusions which were based on the preliminary desktop analysis. The pilot-in-the-loop flight simulator, simulation test plan, and controller evaluation procedure are described. The data obtained from a two-pilot simulation test are then used to conduct a full-handling-qualities study comparing the performance and robustness of each controller. The paper concludes with the selection of the controller that is best suited for application to a modern, fighter-type aircraft.

关键词： linear parameter varying control Pilot Proportional Integral Derivative Handling Qualities Airspeed Elevator Deflection Mean Aerodynamic Chord Flight Testing Elevator Airframe Dynamics

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linear-parameter-varying control of an Improved Three-Degree-of-Freedom Aeroelastic Model

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JOURNAL OF GUIDANCE control AND DYNAMICS 2010年第2期33卷 615-619页

作者： Prime, Zebb Cazzolato, Ben Doolan, Con Strganac, Thomas Univ Adelaide Sch Mech Engn Adelaide SA 5005 Australia Texas A&M Univ Dept Aerosp Engn College Stn TX 77843 USA

AEROELASHCrrY is a broad term that describes the often complex interactions between aerodynamics and structural mechanics. The active control of aeroelastic phenomena is of particular research interest, as it can lead to a reduction in weight and an increase in performance of an airframe. For more background on the analysis and control of aeroelastic systems, the reader is referred to Mukhopadhyay [1].

关键词： linear parameter varying control Aeroelastic control Three Degrees of Freedom linear Quadratic Regulator Servo Motors Airspeed Freestream Conditions control Surfaces Benchmark Active control Technology Pressure Transducers

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linear parameter-varying control for Quadrotors in Case of Complete Actuator Loss

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JOURNAL OF GUIDANCE control AND DYNAMICS 2018年第10期41卷 2232-2246页

作者： Stephan, Johannes Schmitt, Lorenz Fichter, Walter Univ Stuttgart Inst Flight Mech & Control D-70569 Stuttgart Germany

Engine failure or propeller disintegration poses a significant risk to the operation of quadrotors. Total loss of a propulsion unit leads to an underactuated configuration such that the number of operable actuators is lower than the number of controlled variables. One strategy to deal with this scenario is to sacrifice control over the yaw motion. Attitude control is then limited to the alignment of the thrust axis while the quadrotor rotates freely about this axis. Previous work on this subject was built on dynamic inversion or linearization of the rigid-body motion with respect to a stationary angular velocity of the spinning quadrotor. This paper considers the application of linear parameter-varying (LPV) modeling and control techniques with the yaw rate acting as a time-varying scheduling parameter. Based on a multivariable LPV control law, validity and performance of the closed-loop is guaranteed for nonstationary flight conditions such as the initial transient after an actuator loss occurs. Outdoor flight results relying on standard on-board sensors demonstrate the ability of the approach to serve as a recovery procedure for quadrotors in actuator loss scenarios.

关键词： Quadrotor Actuators linear parameter varying control Yaw linear Time Invariant System Propeller Blades Attitude Stabilization Sensors Blade Element Theory Flight Testing

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linear parameter-varying control of a copolymerization reactor

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IFAC-PapersOnLine 2015年第26期48卷 200-206页

作者： Abbas, Hossam S. Rahme, Sandy Meskin, Nader Hoffmann, Christian Tóth, Roland Mohammadpour, Javad Electrical Engineering Dept. Faculty of Engineering Assiut University Assiut71515 Egypt Dept. of Electrical Engineering College of Engineering Qatar University PO Box 2713 Doha Qatar Institute of Electrical Engineering in Medicine Universität zu Lübeck Lübeck23558 Germany Control Systems Group Eindhoven University of Technology P.O. Box 513 MB Eindhoven5600 Netherlands Complex Systems Control Lab College of Engineering University of Georgia AthensGA30602 United States

This paper demonstrates the application of the linear parameter-varying (LPV) framework to control a copolymerization reactor. An LPV model representation is first developed for a nonlinear model of the process. The LPV model complexity in terms of the model order and the number of scheduling variables is then reduced by truncating those system states that have insignificant direct influence on the input-output behavior of the system and do not directly appear in the output equations of the model. It is important to note that these truncated states are still preserved in the reduced model by affecting the scheduling parameters and hence enabling the representation of the input-output map. Using the derived model, a linear fractional transformation (LFT) based LPV controller synthesis approach is used to synthesize a controller for the process. Simulation based studies of the closed-loop behavior of the system regulated by the designed LPV controller demonstrate that the LPV controller solution outperforms a model predicative control designed previously for this system in terms of the achieved control performance and the online computational effort. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Process control controllers Copolymerization linear transformations Mathematical transformations Scheduling Closed loop behavior Computational effort controller synthesis Input output behavior linear Fractional Transformations linear parameter varying linear parameter varying control Scheduling parameters

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