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Advanced multi-loop control for 4DOF robotic arms: Integrating digital twins, neural networks, and model predictive control

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ENERGY REPORTS 2025年 13卷 4261-4279页

作者： Chen, Jiao Al-Nussairi, Ahmed Kateb Jumaah Chyad, Mustafa Habeeb Azarinfar, Hossein Khosravi, Mohsen Jin, Kai Zhang, Jingyu Hunan Univ Informat Technol Sch Comp Sci & Engn Changsha 410151 Peoples R China Al Manara Coll Med Sci Amarah Maysan Iraq Univ Warith Al Anbiyaa Coll Engn Karbala Iraq Univ Gonabad Fac Comp & Elect Engn St Ghafari Gonabad Iran Hunan Univ Sci & Technol Sanya Res Inst Sanya 572000 Peoples R China Changsha Univ Sci & Technol Sch Comp & Commun Engn Changsha 410004 Peoples R China

The abstract of this paper presents a novel approach to controlling a four-degree-of-freedom (4DOF) robotic arm by integrating Digital Twin technology, Neural Networks (NN), and Model Predictive control (MPC). The primary contribution of this work lies in the development of an advanced multi-loop control system that optimizes robotic arm performance, enhancing control precision, energy efficiency, and reliability. The proposed method leverages a Digital Twin model for real-time monitoring and predictive maintenance, while Neural Networks enable adaptive tuning of control parameters. MPC further improves the system's performance by predicting future states and optimizing control actions. Through extensive simulations conducted in MATLAB/Simulink, the results show significant improvements: overshoot reduced by 18.05 %, settling time decreased by 23.19 %, energy efficiency increased by 14.89 %, and tracking accuracy enhanced by 15.03 %. Additionally, the integration of predictive maintenance via the Digital Twin model led to a 36.42 % reduction in unplanned downtime, thereby increasing system reliability. These results demonstrate the superiority of the proposed method over traditional PI controllers, positioning it as a robust solution for modern robotics applications.

关键词： 4DOF robotic arm multi-loop control Digital Twin Neural Networks MPC PI controllers

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Event-driven enabled regression aided multi-loop control for SEC minimisation in SWRO desalination considering salinity variation

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ISA TRANSACTIONS 2022年 119卷 221-241页

作者： Joseph, Arun Damodaran, Vasanthi Anna Univ Madras Inst Technol Dept Instrumentat Engn Chennai 600044 Tamil Nadu India

This paper addresses the energy minimised operation of seawater reverse osmosis (SWRO) desalination process by simultaneous manipulation of feed pressure and reject valve opening. The specific energy consumption (SEC) analysis of SWRO desalination process for maintaining constant permeate flow during feed salinity variation is performed. The analysis is carried out to identify the suitable manipulating variables that can reduce the energy requirement for regulating permeate flow during feed salinity variation. Based on the analysis, a multi-loop control strategy using event-driven programming paradigm aided by regression based predictive model is proposed. The proposed methodology is more desirable than traditional event-driven multi-loop PID control due to smoother control transition and energy reduction. The investigation of SEC and analysis of proposed control strategy were performed using a previously validated dynamic model for SWRO desalination process. The simulation results show that the proposed methodology is superior to conventional PID control by enabling energy-minimised operation of RO process with significant reduction of feed pressure. The analysis shows that the proposed control approach reduces the feed pressure requirement by approximately 300 kPa during feed salinity variation. (C) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Seawater reverse osmosis Desalination Event-driven multi-loop control Specific energy consumption Regression

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Unified Modeling and Analysis of Sequence Impedance of Grid-Forming Converters with multi-loop control

Unified Modeling and Analysis of Sequence Impedance of Grid-...

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IEEE IAS Conference on Industrial and Commercial Power System Asia (IEEE I and CPS Asia)

作者： Liu, Yonghui Wang, Yue Peng, Yang Liu, Hang Shu, Sirui Liu, Lei Xi An Jiao Tong Univ State Key Lab Elect Insulat & Power Equipment Xian Peoples R China Xi An Jiao Tong Univ Sch Elect Engn Xian Peoples R China

ISBN: (纸本)9781665434980

The impedance of a converter is the basis for analyzing the interaction stability of the converter and the grid. Conventionally, the impedance models are built and investigated individually under different control schemes and parameters, which renders time-consuming but low efficient work. Devoted to revealing the common features of diverse grid-forming converters, this paper proposes a unified sequence impedance model that is applicable to various grid-forming converters with multi-loop control. The unified model indicates that the converter impedance is dominated by inner loops in a wide frequency range, and hence is further simplified for inner loop parameter analysis. Focusing on the complex interaction coupling among inner loop parameters, their coupling influences on the converter impedance are investigated comprehensively, and the corresponding rules are highly generalized, which provides guidance on loop parameter tuning for stability improvement. Experimental results verify the correctness of the theoretical analysis.

关键词： Grid-forming converters multi-loop control sequence impedance unified model

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Single-loop versus multi-loop control strategies for electrically driven robots with elastic joint

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JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2020年第3期42卷 1-11页

作者： Kheirkhahan, Payam Izadbakhsh, Alireza Khalesi, Hassan Islamic Azad Univ Dept Elect Engn Garmsar Branch Garmsar Iran

A comprehensive comparison between single-loop and multi-loop control of electrically driven robots with elastic joint (EDREJ) is addressed in this paper. It should be emphasized that most of previous approaches presented for EDREJ utilize back-stepping-based control strategy. In order to have a satisfactory performance in these approaches, the internal signals should converge to their desired trajectories defined by the designer. Usually, these desired trajectories are known as fictitious control signals. In flexible-joint electrically driven robots, each joint is modeled by a 5th-order cascade differential equation. Thus, back-stepping-based approach seems complicated and time-consuming. Therefore, the best idea is focusing on the convergence of the system output and meanwhile guaranteeing boundedness of other states (internal signals). Consequently, the control law dimension and its implementation costs are reduced. The proposed single-loop controller design strategy is founded on the actuators' electrical subsystem. The closed-loop controlled system is established as BIBO stable, and the link position-tracking errors are uniformly bounded. Experimental implementations support the viability of the suggested theoretical results.

关键词： Actuator saturation Single-loop control multi-loop control

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multi-loop control of UPS inverter with a plug-in odd-harmonic repetitive controller

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ISA TRANSACTIONS 2017年 67卷 496-506页

作者： Razi, Reza Karbasforooshan, Mohammad-Sadegh Monfared, Mohammad Ferdowsi Univ Mashhad Fac Engn Dept Elect Engn Mashhad Iran

This paper proposes an improved multi-loop control scheme for the single-phase uninterruptible power supply (UPS) inverter by using a plug-in odd-harmonic repetitive controller to regulate the output voltage. In the suggested control method, the output voltage and the filter capacitor current are used as the outer and inner loop feedback signals, respectively and the instantaneous value of the reference voltage feedforwarded to the output of the controller. Instead of conventional linear (proportional-integral/ -resonant) and conventional repetitive controllers, a plug-in odd-harmonic repetitive controller is employed in the outer loop to regulate the output voltage, which occupies less memory space and offers faster tracking performance compared to the conventional one. Also, a simple proportional controller is used in the inner loop for active damping of possible resonances and improving the transient performance. The feedforward of the converter reference voltage enhances the robust performance of the system and simplifies the system modelling and the controller design. A step-by-step design procedure is presented for the proposed controller, which guarantees stability of the system under worst-case scenarios. Simulation and experimental results validate the excellent steady-state and transient performance of the proposed control scheme and provide the exact comparison of the proposed method with the conventional multi-loop control method. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： multi-loop control Plug-in odd-harmonic repetitive control UPS inverter

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multi-loop control Strategies of Three-phase Two-level Current Source Inverter for Grid Interfacing Photovoltaic System 3

Multi-loop Control Strategies of Three-phase Two-level Curre...

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3rd IEEE Conference on Energy Conversion (CENCON)

作者： Azmi, S. A. Tajuddin, M. F. N. Mohamed, M. F. Hwai, L. J. Univ Malaysia Perlis Sch Elect Syst Engn CERE Arau Perlis Malaysia

ISBN: (纸本)9781538639351

The use of voltage source inverters (VSIs) in grid integration of photovoltaic (PV) systems have been research extensively and always be priority despite of the drawbacks of short lifespan of dc-link capacitor and inherent buck features. With regard to that, researchers continue to find feasible alternative topologies that may offer promising capabilities as in VSIs. Current source inverter (CSI) is one of the competitive options since it has inherent voltage boosting capability and continuous dc input current. These features are important requirements in PV application. Thus, this paper study on the option of using CSI system to supply the ac grid with the required controlled active and reactive powers. The presented control strategy uses number of feedbacks loops to enable fast and accurate tracking of the desired set-points with minimum overshoot. The selection of feedback control variables are discussed using stability analysis. The proposed control strategy is verified by MATLAB/SIMULINK platform.

关键词： current source inverter CSI multi-loop control grid connected inverter VSI

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Tracking error minimization in multi-loop control of UPS inverters using the reference frame transformation 8

Tracking error minimization in multi-loop control of UPS inv...

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8th Power Electronics, Drive Systems and Technologies Conference (PEDSTC)

作者： Razi, Reza Monfared, Mohammad Hadizadeh, Alireza Ferdowsi Univ Mashhad Dept Elect Engn Fac Engn Mashhad Iran Univ Tehran Fac Engn Dept Elect & Comp Engn Tehran Iran

ISBN: (纸本)9781509057665

The main problem in most existing control methods for uninterruptible power supply (UPS) inverters is their excessive complexity. This problem is successfully solved in multi-loop control methods by simple proportional controllers. Nevertheless, using the simple proportional controllers instead of conventional controllers, such as a proportional-resonant (PR) or a proportional-integral (PI) controller, leads to several disadvantages such as the steady state and transient errors. This paper investigates the multi-loop control scheme by proportional controllers using a reference frame transformation for single-phase UPS inverters. The proposed control method uses two nested proportional controllers in the synchronous reference frame. In fact, the steady state error of the UPS inverter in response to the ramp function changes to the steady state error in response to the step function using the reference frame transformation. Excellent tracking performance, no need to any derivative or integrator, fast dynamic response and simplicity of design and implementation are some advantages of the proposed method. The feasibility of the proposed control method is confirmed through simulations in MATLAB/SIMULINK.

关键词： Reference frame transformation Tracking error multi-loop control Single-phase UPS inverter

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multi-loop control Strategy for Parallel Distributed Generation Units in Standalone Applications 8

Multi-loop Control Strategy for Parallel Distributed Generat...

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8th International Conference on Modelling, Identification and control (ICMIC)

作者： Saim, Abdelhakim Mellah, Rabah Houari, Azeddine Djerioui, Ali Machmoum, Mohamed Univ Mouloud Mammeri Tizi Ouzou Fac Elect & Comp Engn Tizi Ouzou 15000 Algeria Univ Nantes IREENA Lab F-44602 St Nazaire France

ISBN: (纸本)9780956715777

This paper presents a suitable output voltage control approach for parallel distributed generation (DG) units working in standalone operating mode. Indeed, an Adaptive multi Resonant controller with weighted State Feedbacks is optimally designed for the voltage control loop while a Proportional regulator is proposed for the inner current loop. Thankful to its frequency adjusting ability, the proposed multi loop controller is also expanded to a wireless power sharing controlled parallel inverters. A co-simulation is carried out combining Matlab/Simulink and PSIM environments in order to highlight the effectiveness of the global control structure which ensures high tracking performance with reduced rate of harmonic distortion, deals efficiently with any load disturbances and may face large frequency deviation while an accurate power sharing is maintained among the parallel DG units.

关键词： distributed generation standalone microgrid multi-loop control droop control resonant control

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multi-loop stabilization control of a Robotic Bionic Eyes

Multi-loop stabilization control of a Robotic Bionic Eyes

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Zhang, Taoran Chen, Xu Owais, Hafiz Muhammad Liu, Guilin Fu, Shaowen Tian, Ye Chen, Xiaopeng Beijing Inst Technol Sch Mechatron Engn Intellegent Robot Inst Beijing Peoples R China Beijing Inst Technol Minist Educ Key Lab Biomimet Robots & Syst Beijing 100081 Peoples R China Natl Key Lab Sci & Technol Aerosp Intelligent Con Beijing 100854 Peoples R China Informat Technol Corp Beijing 100081 Peoples R China

ISBN: (纸本)9781538631942

The purpose of this paper is to realize the composite image stabilization between inertial mechanical and electronic image in the platform of robotic bonic eyes, and a closed loop control structure based on the acceleration closed loop is proposed to improve the accuracy of the stable platform. By using PI controller, we achieved a ternary closed loop constituted by current, acceleration and velocity, which is used to replace the traditional dual-velocity loop control with the acceleration ring. And We introduce a torque observer in the control loop which is based on a Kalman filter. Besides the Stribeck friction model is introduced in this circuit. The system controller is designed on the basis of considering the friction. In this paper, we built a simulation model of the entire control system in MATLAB, experimental results show that the isolation effect is about 66% in the case of sine wave disturbances with amplitude of 1 and frequency of 3Hz. Comparing with the general double closed loop control, the method proposed in this paper improves the performance of the isolation effect by 23 % In the actual platform stability control has a better control effect.

关键词： inertial mechanical stabilization multi-loop control acceleration feedback stribeck friction Kalman filter

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multi-loop control Strategy for Parallel Distributed Generation Units in Standalone Applications

Multi-loop Control Strategy for Parallel Distributed Generat...

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International Conference on Modelling, Identification and control

作者： Abdelhakim Saim Rabah Mellah Azeddine Houari Ali Djerioui Mohamed Machmoum Faculty of Electrical and Computing Engineering University Mouloud Mammeri of Tizi-Ouzou IREENA Laboratory University of Nantes

ISBN: (纸本)9781509015948

This paper presents a suitable output voltage control approach for parallel distributed generation (DG) units working in standalone operating mode. Indeed, an Adaptive multi Resonant controller with weighted State Feedbacks is optimally designed for the voltage control loop while a Proportional regulator is proposed for the inner current loop. Thankful to its frequency adjusting ability, the proposed multi-loop controller is also expanded to a wireless power sharing controlled parallel inverters. A co-simulation is carried out combining Matlab/Simulink and PSIM environments in order to highlight the effectiveness of the global control structure which ensures high tracking performance with reduced rate of harmonic distortion, deals efficiently with any load disturbances and may face large frequency deviation while an accurate power sharing is maintained among the parallel DG units.

关键词： Distributed generation Standalone microgrid multi-loop control Droop control Resonant control

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