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第二十届中国控制会议

作者： Hua O.Wang Yiguang Hong Laboratory for Intelligent and Nonlinear Control(LINC)Department of Electrical and Computer Engineering Duke University DurhamNC 27708U.S.A and Center for Nonlinear and Complex Systems Dept.of Control Science and Engineering Huazhong University of Science and Technology Institute of Systems Sciences Chinese Academy of Sciences

In the paper,we exhibit the usefulness of nonlinearity in two aspects:analysis of nonlinear dynamics and nonsmooth feedback *** illustrative examples are given to show how the new bifurcation p

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Abnormal failure mechanism of the asymmetrical emitter turn-off thyristor in high-frequency converters

Abnormal failure mechanism of the asymmetrical emitter turn-...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Z. Xu K. Motto A.Q. Huang Center for Power Electronics System The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA Power/Control Systems Northrop Grumman Corporation Sykesville MD USA

The emitter turn-off thyristor (ETO) is a new MOS-controlled thyristor that is suitable for use in high-power converters due to its improved switching performance and easy control. This paper analyzes the abnormal failures related to the parasitic diode of the ETO in high-frequency converters for the first time. To prevent this failure, several solutions are proposed and improved ETOs are developed. Experimental results show that the proposed solutions can properly solve this problem.

关键词： Failure analysis Thyristors Anodes P-i-n diodes Switches control systems MOSFETs Tail Switching loss Cathodes

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Characterization of IGCT under zero-current-transition condition

Characterization of IGCT under zero-current-transition condi...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： K. Motto B. Zhang A.Q. Huang Power/Control Systems Northrop Grumman Corporation Sykesville MD USA Center for Power Electronics Systems The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

This paper characterizes the integrated gate commutated thyristor (IGCT) device under the zero-current-transition (ZCT) soft switching condition for the first time. The test results show that ZCT soft switching can dramatically reduce the turn-off loss, turn-on loss of the IGCT switch and also alleviate the reverse recovery stress of the diode. The ZCT circuit is therefore suitable for increasing the current handling capabilities of IGCT devices.

关键词： Switches Switching circuits Thyristors Inverters Circuit testing Resonance Zero voltage switching RLC circuits Fault currents Stress

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High frequency operation of a megawatt voltage source inverter equipped with ETOs

High frequency operation of a megawatt voltage source invert...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： K. Motto Yuxin Li Zhenxue Xu A.Q. Huang Power Control Systems Northrop Grumman Corporation Sykesville MD USA Power Managemen Analog Devices Inc.orporated San Jose CA USA Center for Power.Electronics System The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

ISBN: (纸本)0780366182

The fast switching speed, snubberless turn-off capability and voltage controlled turn-off property enable the emitter turn-off (ETO) thyristor the capability of high switching frequency-about 5-10 times as high as its GTO counterpart. A one-megawatt ETO-based voltage source inverter system is constructed with a switching frequency up to 3-5 kHz. Experimental results have shown that the ETO is a promising device for use in high frequency systems.

关键词： Voltage Inverters Thyristors Switching frequency Power semiconductor switches Snubbers Energy management Power system management Power conversion MOSFETs

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Integrating identification with robust control: A mixed H/sub 2//H/sub /spl infin// approach

Integrating identification with robust control: A mixed H/su...

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IEEE Conference on Decision and control

作者： L. Wang G.C. Goodwin Center for Integrated Dynamics and Control Department of Electrical and Computer Engineering University of Newcastle NSW Australia

ISBN: (纸本)0780366387

This paper builds on previous work which developed a robust control algorithm which used statistical confidence bounds. The key idea was to change the nominal design so as to reduce the overall variability from an a priori specified desired performance. However, due to the choice of cost function, the original design method did not necessarily guarantee stability. This paper addresses the latter problem in a mixed H/sub 2//H/sub /spl infin// framework.

关键词： Robust control Cost function Iterative algorithms Uncertainty Stability Algorithm design and analysis System identification Covariance matrix Australia Design methodology

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X-33 ascent flight control design by trajectory linearization - A singular perturbation approach

X-33 ascent flight control design by trajectory linearizatio...

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AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Jim Zhu, J. Banker, Brad D. Hall, Charles E. Electrical and Computer Engineering Department Louisiana State University Baton Rouge LA 70803 United States Vehicle and Systems Development Department Control Systems Group NASA Marshall Space Flight Center MSFC AL 35812 United States

ISBN: (纸本)9781563479786

The flight control of X-33 poses a challenge to conventional gain-scheduled flight controllers due to its large attitude maneuvers from liftoff to transition and descent. In addition, a wide range of uncertainties in vehicle handling qualities and disturbances must be accommodated by the attitude control system. Nonlinear tracking and decoupling control by trajectory linearization can be viewed as the ideal gain-scheduling controller designed at every point on the flight trajectory. Therefore it provides robust stability and performance at all stages of flight without interpolation of controller gains and eliminates costly controller redesigns due to minor airframe alteration or mission reconfiguration. In this paper, a trajectory linearization design for an X-33 ascent flight controller is presented along with 3-DOF and 6-DOF simulation results. The current design only generates the commanded torque for the vehicle, relying on a gain scheduled control allocation algorithm of the baseline controller developed by NASA MSFC. It is noted that the controller gains for the commanded torque are computed symbolically based on the theoretical derivations and are applicable to any feasible trajectories and airframes with known mass properties. Therefore the design is scalable and mission adaptable. The 3-DOF results were obtained from direct implementation of the symbolic gains, and the 6-DOF results were obtained from the former with only a few days of tuning and refinement. This "plug-and-play" feature demonstrates the simplicity and the inherent robustness of the design technique, which is sought by NASA for the development, test and routine operations of the Reusable Launch Vehicles (RLV's). Plans for further enhancement of the ascent controller and the initial development of the entry and descent controller are also presented. © 2000 by J. J. Zhu. Published by the American Institute of Aeronautics and Astronautics, Inc.

关键词： controllers

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Robust to noise microgravity isolation control system design via high-order sliding mode control

Robust to noise microgravity isolation control system design...

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AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Shkolnikov, I. Shtessel, Y. Whorton, M. Jackson, M. Department of Electrical and Computer Engineering The University of Alabama in Huntsville Huntsville AL 35899 United States TD55/Vehicle Control Systems NASA/Marshall Space Flight Center EDI 3 MSEC Huntsville AL 35812 United States

ISBN: (纸本)9781563479786

Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of second order. The primary DSM is designed for the closedloop system in sliding mode to be a filter with given characteristics with respect to the input external disturbances. © 2000 The American Institute of Aeronautics and Astronautics Inc. All rights reserved.

关键词： Microgravity

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2-Sliding mode control for nonlinear plants with parametric and dynamic uncertainties

2-Sliding mode control for nonlinear plants with parametric ...

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AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Krupp, D.R. Shkolnikov, I.A. Shtessel, Y.B. TD55/Vehick Control Systems NASA/Marshall Space Flight Center ED13 MSFC Huntsville AL 35812 United States Department of Electrical and Computer Engineering The University of Alabama in Huntsville Huntsville AL 35899 United States

ISBN: (纸本)9781563479786

A problem of sliding mode control design for a SISO nonlinear system with unmodeled actuator of the 2nd order is considered. A design methodology based on nonlinear dynamic sliding manifold (NDSM) is proposed to attenuate the chattering phenomenon affecting sliding-mode-controlled plants in presence of unmodeled dynamics. The controller utilizes the pass filter characteristics of the physical-actuating device to provide a smoothing effect on the discontinuous control signal. The methodology proposed allows for maintaining the sliding mode on the surface designed without actuator dynamics being taken into account. This goal is achieved via auxiliary dynamic sliding manifold design, the 2-sliding mode on the auxiliary NDSM provides for finite-time-convergence of the sliding surface quantity to zero. The proposed controller design is based on the relative degrees of the plant and the unmodeled actuator dynamics and the ranges of the uncertainties of the plant and actuator. © 2000 The American Institute of Aeronautics and Astronautics Inc. All rights reserved.

关键词： Actuators

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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Some aspects of human-friendly control for movement-helping devices

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Artificial Life and Robotics 2000年第4期4卷 198-205页

作者： Stefanov, Dimitar H. Bien, Zeungnam Song, Won-Kyung Institute of Mechanics Bulgarian Academy of Sciences Sofia Bulgaria Department of Electrical Engineering and Computer Sciences Human-Friendly Welfare Robot System Engineering Research Center (HWRS-ERC) KAIST Taejon Korea Bien's System Control Laboratory at KAIST Taejon Korea

Future welfare models should meet the needs of a large group of aged and disabled people. Present research and technology efforts in this direction are oriented toward the development of highly effective home-installed devices which will provide the user with continuous assistance in different everyday activities. The problems and needs of the elderly and the disabled vary from person to person over a large range, and with many serious requirements. Modern designs for such devices are oriented toward solutions where the user is less engaged in the control process, and the interaction between the device and the user ishuman-friendly, i.e., the devices should possess a high level of intelligence in their controls, actions, and interactions with the user, offering him/her a high level of comfort and functionality. This paper considers a mixed control mode as a better alternative for human-machine interactions for users with great movement disability. Some examples of easy direct control are discussed.

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