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RETRACTED: Hierarchical distributed model scheme implementation in DC μgrid for numerous ground faults condition (Retracted Article)

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INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION 2019年第4期56卷 348-363页

作者： Yuvaraja, T. Ramya, K. Channabasaveshwara Inst Technol Dept Elect & Elect Engn Tumkur 572216 Karnataka India Sri Sairam Coll Engn Dept Elect & Elect Engn Bangalore Karnataka India

This article presents a new protection scheme for the mu grid structure is implemented on low voltage side as DC system's protection methods are quite new when compared to the AC systems. The protection system designed in AC system faces many difficulties like frequency matching, reactive power violation, and instability. The main objective of the proposed system is to eliminate the faulty segment promptly while keeping the healthy segments functioning unaltered. In the proposed method, a unitwise controller is designed and is connected in feedback so as to maintain stability under all conditions. The unitwise controller comprises primary and secondary controllers which continually monitor all the units of DC grid comprising semiconductor bidirectional switches and snubber circuits. A primary controller is used for monitoring the complete variation in the parameters in all the units. If the observed parameter value is greater than the acceptable range, the secondary controllers receive the command so as to take the required action to eliminate the faulty segment. Both lines and ground faults are tested on all the sections separately and also simultaneously. The tested results are analyzed in all aspects and the results of the states that the designed protection scheme competent in isolating the defective segment within a short period of time. Once the defective segment is isolated, the other segments retain the stabilized voltage and current limits. The protection scheme is designed and verified using MATLAB/Simulink.

关键词： Low voltage DC systems mu grid bidirectional switches primary and secondary controller

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Visual servo control algorithm for soccer robots considering time-delay

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INTELLIGENT AUTOMATION AND SOFT COMPUTING 2000年第1期6卷 33-43页

作者： Kim, SH Choi, JS Kim, BK Korea Adv Inst Sci & Technol Yusong Gu Taejon 305701 South Korea

An efficient visual servo control algorithm which uses primary/secondary controller and the Smith predictor based an an accurate model of robot soccer system including time-delay is suggested for micro-robot soccer tournament (MIROSOT). In this paper, we analyze and design control system of soccer robot in the frame of visual servoing. We think that our approach encourages more systematic approaches to soccer robot system. MIROSOT system is a typical direct visual servo system with a fixed camera and mobile robots with internal sensors such as encoders. In real games, encoders often offer wrong position data due to slips and collisions between robots or between a robot and a walt However, vision provides positions and orientations of robots in certain accuracy regardless of slips or collisions. In spite of this advantage inevitable time-delay arising from vision and communication subsystems seriously causes undesired effects in control of robots. In this paper we present a visual servo controller considering the time-delay. First, we present an accurate dynamic model of organic cooperation of robot soccer systems [3] that includes the time-delay. And we design the Smith predictor [13] using the model to cancel out the deteriorating effect of time-delay in our soccer robot system And using the model, we also propose control structure with primary/secondary controller [12] to control the system precisely. Finally, we show performance of the proposed controller and the predictor in simulation studies.

关键词： visual servo control time-delay Smith-predictor primary and secondary controller

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