To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle(UAV),the proportional-derivative(PD) and integral sliding mode techniques are adapted to design a double-loop cont...
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ISBN:
(纸本)9781509046584
To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle(UAV),the proportional-derivative(PD) and integral sliding mode techniques are adapted to design a double-loop controller in this ***,the system model of quadrotor is established according to the Lagrange ***,a PD control method is put forward in the outer-loop to achieve the position ***,an integral sliding mode control method is adapted in the inner-loop to ensure the quadrotor track the desired attitude angles in the presence of external ***,a double-loop controller is ***,simulation results are presented to verify the effectiveness and robustness of the proposed control laws.
This study presents an inverter current sampled double-loop proportional multi-resonant (PMR)-based control technique for three-level (3L) three-phase four-leg (3P4L) advanced T-type neutral point clamped (AT-NPC) sta...
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This study presents an inverter current sampled double-loop proportional multi-resonant (PMR)-based control technique for three-level (3L) three-phase four-leg (3P4L) advanced T-type neutral point clamped (AT-NPC) stand-alone mode inverter. Apart from the conventional linear controller the PMR controller has the ability to track a sinusoidal reference and does not require any axis transformation. Therefore, the main advantage of the proposed control technique for a 3P4L inverter is to independently control the output phase voltages when feeding a single phase and/or three phase loads. This is achieved by the inverter current sampled double-loop controller with a lead compensator in order to increase the control system phase margin unlike the capacitor current sampled controller. Thus, the harmonic compensation capability of the controller is increased which strengthens the controller against highly non-linear load types. The design procedures of the controller for the system are analytically explained. Then, the steady-state and dynamic performance of the controller is tested in a 3L 3P4L AT-NPC inverter system through many simulations and experimental studies. The results verify the fast-dynamic performance and the achievement of the low total harmonic distortion with a maximum of 2.89% for the 3L 3P4L AT-NPC inverter system even under serious non-linear load type.
This study presents the control method for a new hybrid high-voltage dc (HVDC) connection for large wind farms with doubly fed induction generators (DFIGs). The hybrid HVDC system consists of a line-commutated convert...
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This study presents the control method for a new hybrid high-voltage dc (HVDC) connection for large wind farms with doubly fed induction generators (DFIGs). The hybrid HVDC system consists of a line-commutated converter plus a static synchronous compensator (STATCOM) on the rectifier side and a pulse-width modulation (PWM) current source inverter (CSI) on the inverter side. The overall control strategy is divided into three parts, where the STATCOM subsystem supports the island bus voltage;the rectifier subsystem delivers the active power generated by the wind farm;and the CSI subsystem injects the active power - as well as reactive power, if necessary - to the grid. Taking into account the non-linear and coupling characteristics of each subsystem, a series of control schemes is proposed: for the STATCOM subsystem, a state feedback linearisation and decoupling method is employed;for the rectifier subsystem, a double-loop controller is designed and its inner loop is based on the inverse-system control techniques;for the CSI subsystem, independent active and reactive power control scheme is proposed. Through Simulink/SimPowerSystems simulations on a representative hybrid HVDC system, the startup process is demonstrated and system performances under both normal and fault conditions are investigated.
This work presents the mathematical model of a high power and precision current source to supply electromagnets that will be used in the new Brazilian Synchrotron Light Source. Moreover, three control techniques that ...
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ISBN:
(纸本)9781479987795
This work presents the mathematical model of a high power and precision current source to supply electromagnets that will be used in the new Brazilian Synchrotron Light Source. Moreover, three control techniques that minimize the interference of input voltage variations on the output current are analyzed: PI controller with single loop, PI controller with doubleloop and PI controller associated with feedforward controller. The validity and analysis of the study are performed by comparing the simulations with experimental tests. The feedforward control has showed the best results, presenting negligible deviation from the reference current.
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