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Design of a hydraulic anti-lock braking system (ABS) for a motorcycle

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2010年第5期24卷 1141-1149页

作者： Huang, Chun-Kuei Shih, Ming-Chang Natl Cheng Kung Univ Dept Mech Engn Tainan 70101 Taiwan

This work presents a hydraulic anti-lock braking system (ABS) for a motorcycle. The ABS has a hydraulic modulator and an intelligent controller. The hydraulic modulator is analyzed, and then equipped on a scooter for road tests. The intelligent controller controls the hydraulic modulator by estimated vehicle velocity to calculate the slip ratio of the wheels in real time. The performance of the hydraulic modulator and intelligent controller are assessed by the hardware-in-the-loop (HIL) simulations and road tests. In HIL simulation, the ABS is tested for different initial braking velocities on roads with different adhesive coefficients. Furthermore, both HIL simulations and road tests are conducted on a one-phase pavement road and three-phase pavement road.

关键词： Anti-lock brake system Intelligent controller hardware-in-the loop simulation Real road test

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Harmonic and unbalanced voltage compensation with VOC-based three-phase four-leg inverters in islanded microgrids

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IET POWER ELECTRONICS 2020年第11期13卷 2281-2292页

作者： Tran, Trung Raisz, David Monti, Antonello Rhein Westfal TH Aachen Inst Automat Complex Power Syst Mathieustr 10 Aachen Germany Thai Nguyen Univ Technol Thai Nguyen Vietnam Budapest Univ Technol & Econ Muegyet Rkp 3 Budapest Hungary

This study proposes a novel method that combines sliding mode control (SMC) and virtual oscillator control (VOC) to eliminate voltage harmonics and unbalance caused by non-linear and unbalanced loads in a three-phase low-voltage microgrid. The conventional VOC is modified to fit the three-phase four-leg inverter systems and a novel SMC control is designed using the high-pass filter technique and linearised super twist algorithm. The proposed control method can keep the voltage harmonics and unbalance at the point of common coupling within the IEEE standard limits, under heavily non-linear and unbalanced load conditions. The validity of the proposed method is verified by both offline simulations in Matlab/Simulink and Control hardware-in-the loop simulations using an OPAL-RT platform.

关键词： IEEE standards voltage control invertors compensation distributed power generation variable structure systems power system control oscillators power system harmonics hardware-in-the loop simulation Matlab Control hardware-in-the loop simulations unbalanced voltage compensation four-leg inverters islanded microgrids virtual oscillator control low-voltage microgrid VOC SMC harmonic voltage compensation three-phase four-leg inverter systems high-pass filter linearised super twist algorithm Matlab Simulink OPAL-RT platform IEEE standard

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Dynamic modelling and a dual vector modulated improved model predictive control with auto tuning feature of active front-end converters for distributed energy resources

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IET GENERATION TRANSMISSION & DISTRIBUTION 2024年第8期18卷 1590-1610页

作者： Debnath, Rajdip Gupta, Gauri Shanker Kumar, Deepak Tripathi, Prabhat R. El-Saadany, Ehab F. Mbasso, Wulfran Fendzi Kamel, Salah Dept Elect & Elect Engn BIT Mesra Ranchi India FleetRF PVT LTD New Delhi India Khalifa Univ Sci & Technol Adv Power & Energy Ctr Abu Dhabi U Arab Emirates Khalifa Univ Sci & Technol Dept Elect Engn & Comp Sci Abu Dhabi U Arab Emirates Univ Douala Technol & Appl Sci Lab UIT Douala Douala Cameroon Aswan Univ Fac Engn Dept Elect Engn Aswan Egypt

The operational performance of grid-connected active front-end converters (AFEs) faces challenges arising from the intricate interplay among phase-locked loop (PLL) non-linearities, grid impedance, and conventional control strategies, resulting in compromised stability. This study introduces a refined approach to dynamic model predictive control (MPC) by integrating recursive least squares (RLS) for the precise estimation of physical model parameters, thereby addressing stability concerns. Unlike conventional methodologies, the proposed enhanced RLS-based MPC approach, equipped with an auto-tuning feature, allows for the design of controllers without a prerequisite understanding of exact external dynamics. Notably, this technique exhibits exceptional disturbance rejection capabilities. The evaluation of the cost function at each sampling interval facilitates the determination of optimal switching states based on predicted variables. Gate pulses for the switches of the AFEs are generated accordingly. Employing a simulation platform, the proposed control structure's performance across varied conditions is comprehensively assessed, encompassing alterations in grid impedance and system non-linearities. The method adeptly integrates inherent non-linearities within the system, showcasing exceptional robustness in diverse dynamic scenarios. To further substantiate the efficacy of the proposed control system over conventional approaches, simulation results are validated using a laboratory hardware platform equipped with Typhoon HIL and dSPACE real-time emulators, providing tangible evidence of the proposed control system's effectiveness in real-world hardware setups. The multifaceted approach, encompassing precise parameter estimation, predictive control, auto-tuning, disturbance rejection, robust design, and real-time evaluation, collectively establishes a resilient foundation for enhancing and maintaining the overall stability of the system across diverse operating scenar

关键词： hardware-in-the loop simulation power convertors power system dynamic stability predictive control real-time systems

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Iterative control method of voltage source converters for various high-power applications

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IET GENERATION TRANSMISSION & DISTRIBUTION 2019年第6期13卷 881-889页

作者： Lo, Yu-Hsuan Yang, Chen-Jun Lian, Kuo-Lung Natl Taiwan Univ Sci & Technol Dept Elect Engn Taipei Taiwan Taiwan Power Co Distribut & Serv Div Taipei Taiwan Natl Taiwan Univ Sci & Technol Taiwan Bldg Technol Ctr Taipei Taiwan

High-voltage and high-power voltage source converters (VSCs) are usually operated at low switching frequencies to minimise the switching losses. This study presents a new control method suitable for low switching frequencies. It consists of two stages. In the first stage, a simple proportional controller is used to suppress any overvoltage or overcurrent during the transients. Then, after the control variables have settled to steady-state values, the iterative controller is activated to finely adjust the modulation index and firing angle of the converter to fulfil the control objectives. To justify the proposed control method, various control objectives are realised in a 10 MVA VSC system, and the results are validated by PSCAD/EMTDC and hardware-in-the-loop simulation. The results show that state variables converge within a few iterative steps, and the transient response is sufficiently fast. The proposed method is shown to perform better than the conventional PI control for eliminating the power imbalance and DC second harmonics due to the imbalance at the grid voltage.

关键词： proportional control PWM power convertors power grids power system control PI control voltage control transient response hardware-in-the loop simulation iterative methods iterative control method high-power applications high-power voltage source converters modulation index firing angle grid voltage proportional controller PI control high-voltage source converters PSCAD EMTDC hardware-in-the-loop simulation

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Synchronisation mechanism and interfaces design of multi-FPGA-based real-time simulator for microgrids

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IET GENERATION TRANSMISSION & DISTRIBUTION 2017年第12期11卷 3088-3096页

作者： Li, Peng Wang, Zhiying Wang, Chengshan Fu, Xiaopeng Yu, Hao Wang, Liwei Tianjin Univ Key Lab Smart Grid Minist Educ Tianjin 300072 Peoples R China State Grid Tianjin Elect Power Maintenance Co Tianjin 300230 Peoples R China Univ British Columbia Sch Engn Kelowna BC V1V 1V7 Canada

Real-time simulation of a microgrid involving massive high-frequency power electronic converters, various distributed generators and energy storage systems is computationally demanding. Due to the prominent computing resources and high speed communication, field programmable gate arrays (FPGAs) can be used together to realise the real-time simulation of a microgrid. For a complete multi-FPGA-based real-time simulator, interfaces are essential to communicate with each other and with different types of apparatus. The internal interfaces between FPGAs make it possible to operate in parallel, sharing the computational burden. External interfaces between an FPGA and physical devices contribute to the implementation of hardware-in-the-loop simulation. In this study, interfacing techniques including multi-FPGA system topology determination, time-step synchronisation mechanism and precise communication are proposed in detail. An analogue-to-digital and digital-to-analogue interface is designed to facilitate physical connections to external devices. A modified microgrid benchmark with photovoltaics and a battery is simulated with a time-step of 3s on a 4-FPGA-based real-time simulator. simulation results are compared with PSCAD/EMTDC to validate the interface design.

关键词： synchronisation power system simulation field programmable gate arrays distributed power generation analogue-digital conversion digital-analogue conversion network synthesis hardware-in-the loop simulation power convertors energy storage interfaces design multiFPGA-based real-time simulator massive high-frequency power electronic converters distributed generators energy storage systems field programmable gate arrays high speed communication hardware-in-the-loop simulation multiFPGA system topology determination time-step synchronisation mechanism digital-to-analogue interface analogue-to-digital interface modified microgrid benchmark battery photovoltaics interface design time 3 mus

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Testing and validation of wide-area control of STATCOM using real-time digital simulator with hybrid HIL-SIL configuration

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IET GENERATION TRANSMISSION & DISTRIBUTION 2017年第12期11卷 3039-3049页

作者： Musleh, Ahmed S. Muyeen, S. M. Al-Durra, Ahmed Kamwa, Innocent Khalifa Univ Sci & Technol Dept Elect & Comp Engn PI Campus Abu Dhabi U Arab Emirates Curtin Univ Dept Elect & Comp Engn Perth WA Australia Hydroquebec IREQ Power Syst & Math Varennes PQ Canada

This study presents a novel interfacing setup for testing and validating wide-area monitoring and control (WAMC) techniques used in smart grids. The main purpose of this study is to provide a realistic approach for conducting WAMC studies. In here, a wide-area controller (WAC) for a flexible AC transmission system (FACTS) device is implemented. The measurements for the WAC are collected using phasor measurements units (PMUs). Three main segments are being interfaced in this study. First, the real-power grid, the local area controller of the actual FACTS device, and the PMUs are simulated using real-time digital simulator. This simulation represents the central simulation and is interfaced with the WAC, which is realised using a MATLAB-based program. This interface represents a novel software-in-the-loop (SIL) scheme. On the other hand, an actual FACTS device is designed and interfaced to the central simulation via hardware-in-the-loop (HIL) scheme. This SIL and HIL combination makes the experimental testbed more realistic and closer to the industrial standard. Various tests are conducted to examine the performance of the developed testbed.

关键词： static VAr compensators phasor measurement flexible AC transmission systems digital simulation control engineering computing power engineering computing hardware-in-the loop simulation smart power grids power transmission control HIL scheme SIL scheme software-in-the-loop scheme MATLAB-based program PMU phasor measurements units FACTS device flexible AC transmission system device wide-area controller smart grids hybrid HIL-SIL configuration real-time digital simulator STATCOM WAMC techniques wide-area monitoring-and-control techniques

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Flying capacitor voltage balance and neutral point voltage regulation of PV array fed active neutral point clamped converter in real-time HIL

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IET POWER ELECTRONICS 2020年第13期13卷 2816-2823页

作者： Mishra, Nidhi Yadav, Shivam Kumar Singh, Bhim Padmanaban, Sanjeevikumar Blaabjerg, Frede IIT Delhi Dept Elect Engn New Delhi 110016 India Aalborg Univ Fac Sci & Engn Dept Energy Technol Aalborg Denmark

This study deals with a new control strategy for flying capacitor (FC) based multilevel converter, in order to attain the desired reference value for five-level output voltage in active neutral point clamped (ANPC) converter. The balancing of capacitor voltages is one of the crucial aspects of grid-tied photovoltaic (PV) fed ANPC converter. The accurate reference voltage for FC is required to experience minimum power pulsation and capacitor voltage imbalance. An offset injection-based FC voltage regulator is implemented to track the desired voltage reference for FC. A simple proportional-integral controller generates the offset signal, which is added to the sinusoidal modulating wave to eliminate the FC imbalance. Moreover, neutral point voltage (NPV) balancing is achieved with the help of DC component injection control. The DC-AC power transfer, FC balance, NPV balance and unity power factor operation are achieved simultaneously. The performance of the closed-loop controller for grid-tied PV-fed ANPC converter is analysed at constant and variable irradiances. The system is modelled in MATLAB/Simulink for offline simulation. Furthermore, offline simulation results are validated using real-time controller hardware in loop (HIL) test bench. Moreover, active power is injected into the AC grid seamlessly and results are found compliant with the IEEE 519 standard.

关键词： voltage control photovoltaic power systems PI control power factor power generation control power capacitors power grids closed loop systems real-time systems Matlab power system simulation DC-AC power convertors solar cell arrays hardware-in-the loop simulation grid-tied photovoltaic minimum power pulsation offset injection-based FC voltage regulator proportional-integral controller DC component injection control unity power factor operation closed-loop controller flying capacitor voltage balance neutral point voltage regulation multilevel converter PV array fed active neutral point clamped converter real-time controller hardware in loop test bench sinusoidal modulating wave DC-AC power transfer NPV balance MATLAB-Simulink model offline simulation IEEE 519 standard

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Gain-scheduling control of dynamic lateral lane change for automated and connected vehicles based on the multipoint preview

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IET INTELLIGENT TRANSPORT SYSTEMS 2020年第10期14卷 1338-1349页

作者： Nie, Zhigen Li, Zhongliang Wang, Wanqiong Zhao, Weiqiang Lian, Yufeng Outbib, Rachid Kunming Univ Sci & Technol Fac Transportat Engn Kunming 650500 Yunnan Peoples R China Aix Marseille Univ CNRS UMR 7020 LIS Lab F-13397 Marseille France Jilin Univ State Key Lab Automobile Dynam Simulat Changchun 130022 Jilin Peoples R China Changchun Univ Technol Sch Elect & Elect Engn Changchun 130012 Jilin Peoples R China

Dynamic lateral lane change (DLLC) control of automated and connected vehicles (ACVs) is challenging because of the time-varying and complex properties of the traffic environment. This study proposes a DLLC control strategy combining dynamic trajectory planning and tracking. According to the real-time longitudinal accelerations and velocities of multiple surrounding vehicles, as well as the real-time states of the ACVs, the safe trajectory reference of DLLC is obtained by solving a case-dependent constrained optimisation problem. The lane changing efficiency, vehicle stability and passenger comfort are considered jointly in the trajectory planning. Then, the dynamic trajectory reference is tracked through a gain-scheduling control algorithm combining previewed trajectory feed-forward and ACVs states feedback. Gain-scheduling control algorithm based on a linear time-varying form is utilised to achieve the precise control of the different velocities and improve the real-time ability of the algorithm. The proposed strategy is tested through software and hardware-in-loop experiments, and in different test scenarios. The results of simulations and experiments show that the proposed control strategy can achieve a satisfactory performance of DLLC. The lane changing efficiency, safety, passenger comfort and vehicle stability are verified in complex traffic environments.

关键词： predictive control road vehicles optimisation state feedback time-varying systems stability linear systems road traffic control gain control hardware-in-the loop simulation control engineering computing traffic engineering computing road safety case-dependent constrained optimisation problem lane changing efficiency vehicle stability passenger comfort dynamic trajectory reference gain-scheduling control algorithm linear time-varying form complex traffic environments automated vehicles multipoint preview dynamic lateral lane change control connected vehicles dynamic trajectory planning real-time longitudinal accelerations ACV states feedback DLLC control software-in-loop experiment hardware-in-loop experiment feedforward trajectory

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Experimental investigation of an optimised pitch control for a vertical-axis turbine

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IET RENEWABLE POWER GENERATION 2019年第16期13卷 3106-3112页

作者： Abbaszadeh, Shokoofeh Hoerner, Stefan Maitre, Thierry Leidhold, Roberto Univ Otto Von Guericke Dept Elect & Informat Engn Magdeburg Germany Univ Otto Von Guericke Inst Fluid Dynam & Thermodynam Dept Proc & Syst Engn Magdeburg Germany Univ Grenoble Alpes CNRS Grenoble INP Dept EngnLEGI Grenoble France

This study reports on an experimental method to obtain the motion law of a pitch system required for maximising the power output of a vertical-axis water turbine (VAWT). In order to allow for the close monitoring of blade forces, the turbine is modelled with a single oscillating hydrofoil in a water channel. The pitch motion is controlled numerically, and the pitch angle and forces are measured as a function of time. The objective of the optimisation is to maximise the time integral of the thrust coefficient. The optimisation is based on a hardware-in-the-loop method and uses a multi-scale, full-factorial approach. The optimal motion law is found through successive improvements with an adaptive parameter step refinement, while the integral of the driving force coefficient is used as a target function. An optimal pitch trajectory with a significant improvement in the thrust coefficient was obtained for a single operating point. The benefit of this methodology is the possibility to study a complete range of turbine designs through the variation of two dimensionless parameters (tip-speed ratio lambda and reduced frequency k), within very short runtime, minimising time and costs investigation, compared to more common numerical methods, or experiments on a complete VAWT.

关键词： blades hydrodynamics hydraulic turbines pitch control (position) marine vehicles motion control numerical control angular measurement force measurement optimisation hardware-in-the loop simulation numerical analysis numerical methods VAWT vertical-axis water turbine blade forces single oscillating hydrofoil water channel optimisation thrust coefficient hardware-in-the-loop method full-factorial approach optimal motion law adaptive parameter step refinement driving force coefficient optimal pitch trajectory vertical-axis turbine designs optimised pitch control system

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Real-time agent-based control of plug-in electric vehicles for voltage and thermal management of LV networks: formulation and HIL validation

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IET GENERATION TRANSMISSION & DISTRIBUTION 2020年第11期14卷 2169-2180页

作者： Veloso, Cesar Garcia Rauma, Kalle Orjuela, Julian Fernandez Rehtanz, Christian KTH Royal Inst Technol Stockholm Sweden Tech Univ Catalonia Barcelona Spain TU Dortmund Univ Inst Energy Syst Energy Efficiency & Energy Ie3 Dortmund Germany Univ Victoria Inst Integrated Energy Syst Victoria BC Canada

Ensuring a stable and reliable operation of current and future distribution networks represents a major challenge for system operators aggravated by the global proliferation of plug-in electric vehicles (PEVs). While the introduction of a controlled charging process would be advantageous to minimise the impacts PEVs cause in the system, a suitable, efficient and ready to be implemented solution is still missing. The present work addresses this issue by proposing a smart charging management solution capable to simultaneously combat the main network impacts derived from the energy needs of the vehicles. This is done by means of an agent-based hierarchical real-time algorithm which combines a local decentralised nodal voltage management with a centralised thermal control conceived to minimise the impact upon participating users. The effectiveness of the proposed system is tested both using a simulation environment considering multiple PEV penetration levels and employing commercially available charging stations and cars through hardware-in-the-loop simulations. The results reveal how all network violations are successfully attenuated by peak shaving the total aggregated charging demand and ensuring a correct system operation for all penetration scenarios while inflicting no impact on the participating users.

关键词： distribution networks distributed power generation electric vehicles hardware-in-the loop simulation real-time systems temperature control plug-in electric vehicles thermal management LV networks distribution networks global proliferation controlled charging process smart charging management real-time algorithm local decentralised nodal voltage management centralised thermal control multiple PEV penetration levels charging stations aggregated charging demand real-time agent-based control hardware-in-the-loop simulations

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