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modular control with carrier auto-interleaving and capacitor-voltage balancing for MMCs

IET POWER ELECTRONICS 2019年第4期12卷 817-828页

作者： Seleme, Seleme Isaac, Jr. Gregoire, Luc-Andre Cousineau, Marc Ladoux, Philippe Univ Fed Minas Gerais Grad Program Elect Engn Ave Antonio Carlos 6627 BR-31270901 Belo Horizonte MG Brazil Univ Toulouse CNRS LAPLACE Toulouse France OPAL RT Technol Inc 1751 RichardsonSuite 2525 Montreal PQ H3K 1G6 Canada

In this study, a new control method dedicated to modular multilevel converters (MMCs) is proposed. The approach is based on local communication between the individual controls of each submodule (SM). The local values of the capacitor voltages and the carrier-phase angles are shared between immediate neighbours achieving balancing of their capacitor voltages, and an automatic interleaving of the pulse-width modulation (PWM) signals. Using an inter-cell communication strategy, the number of required data exchanges with a centralised controller is greatly reduced. This method works for any number of SMs present in the converter and provides an integrated dynamic reconfiguration capability to enable or disable SMs during operation, without any additional consideration for the control-algorithm's implementation. Such a capability is not offered by classical MMC control methods using either PWM or nearest-level control strategies. Higher stability, robustness and larger bandwidth of the proposed method are first demonstrated through real-time simulation. The auto-interleaving of the PWM carriers and the capacitor-voltage balancing, provide fast responses and adequate accuracy. Experimental results are provided using a 600V/3kW/18 cells single-phase MMC demonstrator confirming the simulation results, and the advantages of this SM control strategy.

关键词： PWM power convertors switching convertors voltage control voltage-source convertors modular control carrier auto-interleaving capacitor-voltage balancing modular multilevel converters individual controls capacitor voltages carrier-phase angles immediate neighbours automatic interleaving pulse-width modulation signals inter-cell communication strategy centralised controller integrated dynamic reconfiguration capability classical MMC control methods nearest-level control strategies PWM carriers SM control strategy single-phase MMC demonstrator voltage 600 0 V power 3 0 kW

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modular Torque control of Multi-Three-Phase Synchronous Motor Drives

Modular Torque Control of Multi-Three-Phase Synchronous Moto...

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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Tolosano, Luisa Armando, Eric Rubino, Sandro Mandrile, Fabio Bojoi, Radu Politecnico di Torino Dipartimento Energia 'G. Ferraris' Torino10129 Italy

ISBN: (纸本)9798350316445

Multiphase motors offer more degrees of freedom when compared to their three-phase counterparts. Their intrinsic redundant structure enables the post-fault operation of the drive, thus preventing inoperability. Additionally, more advantages are obtained when a modular drive topology is adopted in machine windings and power converters. This is particularly convenient, especially when three-phase technology can be adopted, resulting in a multi-three-phase drive configuration. However, modular torque control strategies are needed to fully exploit the advantages provided by the multi-three-phase configuration. Therefore, an innovative control scheme implementing modular torque regulation of multi three-phase synchronous motor is proposed in this paper. The stator flux amplitude and the torque-producing current component corresponding to each three-phase set are independently controlled to perform the decoupled torque regulation. Experimental results on a 60 kW quadruple three-phase interior permanent magnet (IPM) synchronous motor are provided to prove the effectiveness of the proposed torque control solution. © 2023 IEEE.

关键词： decoupling algorithm modular control multi three-phase synchronous motors multiphase electrical drives

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controller Hardware-in-the-Loop Validation of a modular control Architecture for a Composite DC-DC Converter 20

Controller Hardware-in-the-Loop Validation of a Modular Cont...

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20th IEEE Workshop on control and Modeling for Power Electronics (COMPEL)

作者： Sankaranarayanan, Vivek Shirazi, Mariko Gao, Yucheng Ghosh, Aritra Erickson, Robert W. Maksimovic, Dragan Univ Colorado Dept Elect Comp & Energy Engn Colorado Power Elect Ctr Boulder CO 80309 USA Univ Alaska Fairbanks Alaska Ctr Energy & Power Fairbanks AK 99775 USA

ISBN: (纸本)9781728118420

This paper presents a modular control architecture for a composite dc-dc converter topology. A composite converter comprises multiple dissimilar partial-power converter modules arranged and operated to minimize stresses and improve system efficiency over a wide range of operating points. This requires transitioning to different operating modes for different operating conditions. A control strategy is required to determine the optimal mode, and to achieve smooth mode transitions and fast closed-loop system dynamic responses. A modular control architecture capable of meeting these objectives is described. In this architecture, low-level module controls are decoupled from system-level operations. The resulting hierarchical control strategy is relatively simple, and highly scalable in nature. The approach is developed and validated on a controller hardware-in-the-loop (CHIL) platform. A frequency scaling strategy is applied to allow validations of high-switching frequency converters on bandwidth-limited CHIL platforms.

关键词： composite converter modular control controller hardware-in-the-loop frequency scaling mode transitions

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Complexity of Verifying Nonblockingness in modular Supervisory control

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IEEE TRANSACTIONS ON AUTOMATIC control 2018年第2期63卷 602-607页

作者： Masopust, Tomas Tech Univ Dresden Cfead D-01069 Dresden Germany Czech Acad Sci Inst Math Zizkova 22 Brno 61662 Czech Republic

Complexity analysis becomes a common task in supervisory control. However, many results of interest are spread across different topics. The aim of this paper is to bring several interesting results from complexity theory and to illustrate their relevance to supervisory control by proving new nontrivial results concerning nonblockingness in modular supervisory control of discrete event systems modeled by finite automata.

关键词： Complexity discrete event systems finite automata modular control

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Local modular Supervisory control of Timed Discrete-Event Systems

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IEEE TRANSACTIONS ON AUTOMATIC control 2017年第2期62卷 934-940页

作者： Schafaschek, Germano de Queiroz, Max H. Cury, Jose E. R. Univ Fed Santa Catarina Automat & Syst Dept BR-88040900 Florianopolis SC Brazil

This note presents a local approach for the modular supervisory control of timed discrete-event systems. Our modular supervisors are designed over local models, which are obtained by aggregating only the subsystems affected by each control specification. We establish necessary and sufficient conditions for nonblocking optimal global behavior. We also present a comparative analysis of the computational advantages and limitations of the proposed strategy.

关键词： Composite systems large-scale systems modular control supervisory control timed discrete-event systems

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Supervisory control of modular Discrete-Event Systems Under Partial Observation: Normality

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IEEE TRANSACTIONS ON AUTOMATIC control 2024年第6期69卷 3796-3807页

作者： Komenda, Jan Masopust, Tomas Czech Acad Sci Inst Math Prague 11567 Czech Republic Palacky Univ Olomouc Fac Sci Olomouc 77900 Czech Republic

Complex systems are often composed of many small communicating components called modules. We investigate the synthesis of supervisory controllers for modular systems under partial observation that, as the closed-loop system, realize the supremal normal sublanguage of the specification. Such controllers are called maximally permissive normal supervisors. The challenge in modular systems is to find conditions under which the global nonblocking and maximally permissive normal supervisor can be achieved locally as the parallel composition of local normal supervisors. We show that a structural concept of hierarchical supervisory control called modified observation consistency (MOC) is such a condition. However, the algorithmic verification of MOC is an open problem, and therefore it is necessary to find easily verifiable conditions that ensure MOC. We show that the condition that all shared events are observable is such a condition. Considering specifications, we examine both local specifications, where each module has its own specification, and global specifications. Combining our results for normality with the existing results for controllability yields the local synthesis of the nonblocking and maximally permissive controllable and normal supervisor. Finally, we illustrate the results on an industrial case study of the patient table of an MRI scanner.

关键词： Supervisory control Behavioral sciences Observability controllability Closed loop systems Observers Discrete-event systems Discrete-event system (DES) modular control normality observation consistency

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A modular Event-Triggered Containment control Scheme for Nonlinear Heterogeneous Multiagent Systems With Unknown Leaders

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IEEE TRANSACTIONS ON CYBERNETICS 2024年第7期54卷 4190-4203页

作者： Wang, Fuyong Deng, Jia Liu, Zhongxin Chen, Zengqiang Nankai Univ Coll Artificial Intelligence Tianjin 300350 Peoples R China Nankai Univ Tianjin Key Lab Intervent Brain Comp Interface & I Tianjin 300350 Peoples R China

This article addresses the containment control problem in multiagent systems with nonlinear heterogeneous followers and multiple unknown leaders whose dynamics are exclusively known to their neighbors. The primary goal is to ensure the convergence of each follower to the dynamic convex hull spanned by the leaders under the constraints of limited communication resources. To achieve this, this article introduces a modular event-triggered containment control scheme with three modules. The first module, Module I-signal generator, is designed for each follower to generate a reference signal asymptotically entering the dynamic convex hull without relying on follower dynamics. The second module, Module II-event-triggered mechanism, is tailored to save communication resources effectively by determining when to broadcast information based on perturbed system stability and input-to-state stability theories. The third module, Module III-tracking controller, treats each follower as an independent agent and is crafted to track the reference signal generated by Module I using an output regulation approach. It is established that the system achieves containment control without Zeno behavior under the influence of these modules, and the theoretical results are validated through simulation examples, demonstrating the practical validity of the proposed approach.

关键词： Containment control event-triggered mechanism modular control nonlinear heterogeneous multiagent systems unknown leaders

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Brain-inspired self-organizing modular structure to control human-like movements based on primitive motion identification

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NEUROCOMPUTING 2016年第Part3期173卷 1436-1442页

作者： Haghighi, Hamed Abdollahi, Farzaneh Gharibzadeh, Shahriar Amirkabir Univ Technol Neural & Cognit Sci Lab Tehran 15914 Iran Amirkabir Univ Technol Tehran Polytech Dept Elect Engn Ctr Excellence Control & Robot Tehran 15914 Iran Concordia Univ Dept Elect & Comp Engn Montreal PQ H3G 1M8 Canada

In this paper we will propose a modular structure to control the human-like movements of a robot in a way similar to which human brain does to perform the motor control. Modeling of human motor control and motor learning has attracted researchers' attention in robotics and artificial intelligence for decades. It is obvious that discovering the motor control functionality of brain as the most complex, sophisticated and powerful information-processing device leads to significant advancements in robots movement Hence, our proposed modular controller is based on human brain behavior in using neural mechanisms named internal models and primitive motion identification which leads to extract and learn the latent simple motions in order to imitate observed complex movements. The study is accomplished based on formerly proposed structure, MOSAIC, which provides remarkable efficiency in motor control modeling. Examination of the proposed structure with real recorded data, confirms the performance of the controller in learning and executing motion tasks. (C) 2015 Elsevier B.V. All rights reserved.

关键词： Robot Motion control Human Motor control modular control Primitive Motion Learning Hidden Markov Model

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A modular Optimal Formation control Scheme of Multiagent Systems With Application to Multiple Mobile Robots

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2022年第9期69卷 9331-9341页

作者： Wang, Xiangyu Liu, Weiming Wu, Quanwei Li, Shihua Southeast Univ Sch Automat Nanjing 210096 Peoples R China Minist Educ Key Lab Measurement & Control Complex Syst Engn Nanjing 210096 Peoples R China

In this article, we studied an optimal formation control problem of general integrator chain multiagent systems with strongly convex local cost functions. The control goal is to design appropriate controllers for the agents such that they reach a desired formation shape and the global cost function is minimized. To achieve the goal, a modular control scheme with two modules is proposed. First, in Module I, an optimal formation signal generator is designed, whose outputs asymptotically converge to the minimizer of the global cost function. Second, in Module II, by employing the outputs into the feedback loop as the agents' reference trajectories, some linear-tracking controllers are designed for the agents to track the references asymptotically. With both modules, the proposed control scheme realizes the optimal formation control goal asymptotically. Moreover, the proposed control scheme is also applied to solving an optimal formation control problem of multiple mobile robots, where the robots' total "relative" weighted squared moving distance requires minimization. The simulations and experiments validate the effectiveness and practicality of the proposed control scheme.

关键词： Signal generators Minimization Task analysis Shape Cost function Trajectory tracking Mobile robots Distributed optimization modular control multiagent systems multiple mobile robots optimal formation control

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A Model Predictive control Strategy for modular DAB Converter of an Input-Series Output-Parallel Solid-State Transformer 8

A Model Predictive Control Strategy for Modular DAB Converte...

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8th Southern Power Electronics Conference and the 17th Brazilian Power Electronics Conference, SPEC / COBEP 2023

作者： Nardoto, Adriano Fazolo Dos Santos, Walbermark Marques Encarnação, Lucas Frizera Carletti, Daniel De Lima, Atilio Caliari Amorim, Arthur Eduardo Alves Fiorotti, Rodrigo Santana, Nelson Henrique Bertollo Federal Institute of Espírito Santo Electrical Engeneering ES São Mateus Brazil Federal University of Espírito Santo Electrical Engeneering ES Vitória Brazil

ISBN: (纸本)9798350321128

Solid-state transformers (SST) have been identified as key devices for future electrical grids that require the participation of distributed generation, electric vehicles, and energy storage in the electrical grid. Research on this subject has investigated functionalities of SST, such as power factor compensation in the public grid, precise regulation of output voltage, harmonic mitigation, short-circuit current limitation, and voltage drop immunity. This article investigates an independent model predictive control strategy used in the DC-DC stage of a SST with an Input-Series Output-Parallel (ISOP) topology, employing two DAB converters. To evaluate the topology, a small-scale prototype was constructed. The results demonstrate the feasibility of MPC control and modular strategies for the converters, including load distribution, processing time for voltage and current control, and the behavior of the Low Voltage DC bus during load changes. © 2023 IEEE.

关键词： DAB converter Model Predictive control modular control

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