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Sensorless Control of Permanent Magnet Synchronous Motors based on Finite-Time Robust Flux Observer ⁎

IFAC-PapersOnLine 2020年第2期53卷 9270-9275页

作者： Anton Pyrkin Alexey Bobtsov Romeo Ortega Alexey Vedyakov Dmitry Cherginets Dmitry Bazylev Petranevsky Igor ITMO University Faculty of Control Systems and Robotics49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

A sensorless control algorithm is developed based on novel finite-time robust flux observer for the non-salient permanent magnet synchronous motor (PMSM). Total flux equality and motor model are used to find the linear regression-like model with respect to the flux. Applying dynamic regressor extension and mixing method, we obtain two independent scalar equations and construct a finite-time flux observer. The flux estimate is used to reconstruct the rotor position and velocity with well-known trigonometric relation and phase-locked loop observer, respectively. To complete a sensorless control design, we pass these estimates to standard field orient control. The efficiency and robustness of the proposed approach are demonstrated through the set of numerical simulations.

关键词： Sensorless nonlinear observer flux observer nonlinear control systems synchronous motor

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Astrocytes mediate analogous memory in a multi-layer neuron-astrocytic network

arXiv

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arXiv 2021年

作者： Tsybina, Yuliya Kastalskiy, Innokentiy Krivonosov, Mikhail Zaikin, Alexey Kazantsev, Victor Gorban, Alexander Gordleeva, Susanna Scientific and Educational Mathematical Center 'Mathematics of Future Technology' Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Autowave Processes Institute of Applied Physics Russian Academy of Sciences Nizhny Novgorod Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia Neuroscience Research Institute Samara State Medical University Samara Russia Dept of Mathematics Leicester University Leicester United Kingdom Centre for Analysis of Complex Systems Sechenov First Moscow State Medical University Sechenov University Moscow Russia Institute for Women's Health and Department of Mathematics University College London London United Kingdom

Modeling the neuronal processes underlying short-term working memory remains the focus of many theoretical studies in neuroscience. Here we propose a mathematical model of spiking neuron network (SNN) demonstrating how a piece of information can be maintained as a robust activity pattern for several seconds then completely disappear if no other stimuli come. Such short-term memory traces are preserved due to the activation of astrocytes accompanying the SNN. The astrocytes exhibit calcium transients at a time scale of seconds. These transients further modulate the efficiency of synaptic transmission and, hence, the firing rate of neighboring neurons at diverse timescales through gliotransmitter release. We show how such transients continuously encode frequencies of neuronal discharges and provide robust short-term storage of analogous information. This kind of short-term memory can keep operative information for seconds, then completely forget it to avoid overlapping with forthcoming patterns. The SNN is inter-connected with the astrocytic layer by local inter-cellular diffusive connections. The astrocytes are activated only when the neighboring neurons fire quite synchronously, e.g. when an information pattern is loaded. For illustration, we took greyscale photos of people's faces where the grey level encoded the level of applied current stimulating the neurons. The astrocyte feedback modulates (facilitates) synaptic transmission by varying the frequency of neuronal firing. We show how arbitrary patterns can be loaded, then stored for a certain interval of time, and retrieved if the appropriate clue pattern is applied to the input. © 2021, CC BY.

关键词： Image recognition

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Model Predictive Path Integral Control for Car Driving with Autogenerated Cost map Based on Prior Map and Camera Image

Model Predictive Path Integral Control for Car Driving with ...

引用

International Conference on Intelligent Transportation

作者： Alexander Buyval Aidar Gabdullin Konstantin Sozykin Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Skolkovo Institute of Science and Technology (Skoltech) Center for Computational and Data-Intensive Science and Engineering (CDISE) Russia

ISBN: (纸本)9781538670255

Model Predictive Path Integral (MPPI) algorithm is an efficient approach to control an autonomous car. However, it requires a cost map. Preparing a cost map in advance is a task that can be completed only for a static closed unchanging environment, but impossible for real city conditions where the environment is dynamic. In this work, we present a method for automatic creation of the cost map based on map data and image from a camera mounted on a self-driving car. The described approach was tested on the Kia Soul car.

关键词： Cameras Automobiles Fires Roads Image segmentation Prediction algorithms Heuristic algorithms

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About the geometrical form of the underwater robot platform with non-parallel system the anchor-rope propulsion

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IOP Conference Series: Materials Science and Engineering 2021年第1期1129卷

作者： E S Briskin N G Sharonov Y V Kalinin I A Samozheev Volgograd State Technical University 28 Lenin Avenue Volgograd 400005 Russia Center for Technology Components of Robotics and Mechatronics Innopolis University 1 Universitetskaya Str. Innopolis 420500 Russia

The underwater mobile transport robot, which is a platform assembled from the polygonal pontoon modules, is considered. The system are used anchor-rope movers, which ensures high stability and energy efficiency of the entire system due to interaction with the bottom surface. The aim of the study is to select the geometric shape of the module according to such criteria as specific heat losses in the movers, the length of the step and the tension of the ropes. The formulated criteria characterize the energy consumption and the level of dynamic loads in the considered dynamic system, and the achievement of their optimal values contributes to the increase of autonomy. It takes into account not only the exchange rate resistance to movement, but also the influence of the current, which, depending on the direction, can both promote the movement of the platform and counteract it.

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A flux and speed observer for induction motors with unknown rotor resistance and load torque and no persistent excitation requirement

arXiv

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arXiv 2020年

作者： Pyrkin, Anton Bobtsov, Alexey Vedyakov, Alexey Ortega, Romeo Vediakova, Anastasiia Sinetova, Madina Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 Saint Petersburg197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico Department of Computer Applications and Systems St.Petersburg State University 7/9 Universitetskaya nab. St. Petersburg199034 Russia

In this paper we address the problems of flux and speed observer design for voltage-fed induction motors with unknown rotor resistance and load torque. The only measured signals are stator current and control voltage. Invoking the recently reported Dynamic Regressor Extension and Mixing-Based Adaptive Observer (DREMBAO) we provide the first global solution to this problem. The proposed DREMBAO achieves asymptotic convergence under an excitation condition that is strictly weaker than persistent excitation. If the latter condition is assumed the convergence is exponential. Copyright © 2020, The Authors. All rights reserved.

关键词： Induction motors

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The research of a movement dynamics two-legged robot with spring-loaded weight

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IOP Conference Series: Materials Science and Engineering 2021年第1期1129卷

作者： D V Bordyugov E S Briskin N G Sharonov Department of Theoretical Mechanics Volgograd State Technical University 28 Lenin Avenue Volgograd 400005 Russia Center for Technology Components of Robotics and Mechatronics Innopolis University 1 Universitetskaya Str. Innopolis 420500 Russia

The movement of a two-legged robot which moves due to oscillations of a load with a given mass fixed on the robot body with the help of the springs, is considered in this research. By changing parameters, such as mass of the load, stiffness of the springs, size of the robot's body and the initial speed of movement, the various trajectories of movement are executed. In this article mathematical model and calculation results have been presented.

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Sensorless Control of the Levitated Ball ⁎

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IFAC-PapersOnLine 2019年第29期52卷 274-279页

作者： Alexey Bobtsov Anton Pyrkin Romeo Ortega Alexey Vedyakov Madina Sinetova Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

One of the most widely studied dynamical systems in nonlinear control theory is the levitated ball. Several full-state feedback controllers that ensure asymptotic regulation of the ball position have been reported in the literature. However, to the best of our knowledge, the design of a stabilizing law measuring only the current and the voltage—so-called sensorless control—is conspicuous by its absence. Besides its unquestionable theoretical interest, the trade off between cost and reliability of position sensors for magnetic levitated systems, makes the problem of great practical application. Our main contribution is to provide the first solution to this problem without linearisation and signal injection. Instrumental for the development of the theory is the use of parameter estimation-based observers, which combined with the dynamic regressor extension and mixing parameter estimation technique, allow the reconstruction of the magnetic flux. With the knowledge of the latter it is shown that the mechanical coordinates can be estimated with suitably tailored nonlinear observers. Replacing the observed states, in a certainty equivalent manner, with a full information asymptotically stabilising law completes the sensorless controller design. Simulation results are used to illustrate the performance of the proposed scheme.

关键词： Nonlinear control sensorless control nonlinear observers MagLev system

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Chimera state in complex networks of bistable Hodgkin-Huxley neurons

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Physical Review E 2019年第2期100卷 022224-022224页

作者： A. V. Andreev N. S. Frolov A. N. Pisarchik A. E. Hramov Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Universitetskaya 1 Innopolis Republic of Tatarstan 420500 Russia Center for Biomedical Technology Technical University of Madrid Campus Montegancedo 28223 Madrid Spain Saratov State Medical University Bolshaya Kazachia st. 112 Saratov 410012 Russia

In this paper we study a chimera state in complex networks of bistable Hodgkin-Huxley neurons with excitatory coupling, which manifests as a termination of spiking activity of a part of interacting neurons. We provide a detailed investigation of this phenomenon in scale-free, small-world, and random networks and show that the chimera state is robust to the network topology. Nevertheless, network topological properties determine the stability of spatiotemporal states and therefore affect the excitability of the chimera state in the whole network. In particular, the scale-free network whose higher degree nodes are more stable to small perturbations is least exposed to chimera formation and exhibits an abrupt transition from a spiking to a silent regime. On the other hand, small-world and random networks are more likely to provide transitions to the chimera state.

关键词： Chimera states Neuronal networks Neuronal network models

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Integration technology for replacing damaged brain areas with artificial neuronal networks 4

Integration technology for replacing damaged brain areas wit...

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Lebedeva, Albina Mishchenko, Mikhail Bardina, Polina Fedulina, Anastasiya Mironov, Andrey Zhuravleva, Zoia Gerasimova, Svetlana Mikhaylo, Alexey Pisarchik, Alexander Kazantsev, Victor Laboratory of Functional Imaging Department of Fundamental and Applied Research N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia

ISBN: (纸本)9781728172866

We present a novel integration technology for replacing damaged microcircuits in the rat brain with electronic neuronal networks. This technology will allow simulating important brain functions, such as memory, through the adaptive stimulating effects of neural interfaces at cellular and neuronal network levels. The proposed system includes electronic devices to register and process neuronal signals and to adaptively stimulate damaged brain areas according to the online algorithm decoding the registered neuronal activity. The stimulation algorithm is implemented in hardware neural network with memristive connections that allows both network learning and adaptive *** basic idea is to develop components of hardware neural network with memristive connections for adaptive generation of electrical signals to stimulate particular brain areas. Moreover, the uniqueness of the system is adaptive closed-loop connection between two hippocampal neuronal networks. Such a system is very promising for restoring functionality of damaged areas in the human brain to replace lost functions in patients with brain pathologies or trauma. © 2020 IEEE.

关键词： Brain

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An Adaptive Flux and Position Observer for Interior Permanent Magnet Synchronous Motors ⁎

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IFAC-PapersOnLine 2019年第29期52卷 43-48页

作者： Madina Sinetova Anton Pyrkin Alexey Bobtsov Romeo Ortega Alexey Vedyakov ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratoire des Signaux et Systmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

The design of an adaptive active flux observer is an open problem, which attracts a lot of scientists from adaptive control and electric drive societies. The design of new observer for the interior permanent magnet synchronous motor is based on the ”linear regression plus gradient search” approach. It is proved that the flux observer provides asymptotic convergence of estimation errors to zero. In comparison with known solutions proposed approach gives improved results with guaranteed performance (monotonicity, convergence rate regulation) and allows to regulate the convergence rate via the selection of the adaptation gains. The main feature of the proposed observer, compared to existing ones, is that it is well defined in all operating modes, improving its robustness properties.

关键词： Nonlinear control systems robust observers synchro motors flux estimator speed estimator sensorless approach

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