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Distributed state and unknown input estimation for freeway traffic flow models

Distributed state and unknown input estimation for freeway t...

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European control Conference (ECC)

作者： T. Luspay B. Kulcsár T. Tettamanti I. Varga J. Bokor HAS Computer and Automation Research Institute Budapest Hungary Faculty of Mechanical Technical University of Delft Delft Nederland Department of Control and Transport Automation Budapest University of Technology and Economics Budapest Hungary

The paper presents a joint state and unmeasured input estimation technique for a special class of nonlinear second order macroscopic traffic model. The freeway traffic system is transformed into a quasi and affine approximate Lin- ear Parameter Varying (LPV) form. Observer design technique is formulated using off-line optimization problem subjected to Linear Matrix Inequality (LMI) conditions, considering uncertain scheduling parameters. Furthermore, locally designed state estimators are interconnected to cover multiple freeway sections. The elaborated method is validated using real traffic measurements.

关键词： Traffic control Mathematical model State estimation Equations Optimization Steady-state

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Simple initial rotor position estimation method for three-phase star-connected switched reluctance machine

Simple initial rotor position estimation method for three-ph...

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SICE Annual Conference

作者： Pakasit Somsiri Ruchao Pupadubsin Prapon Jitkreeyan Seubsuang Kachapornkul Kanokvate Tungpimolrut Nattapon Chayopitak Pichai Aree Department of Electrical Engineering Thammasat University Pathum Thani Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathum Thani Thailand

This paper proposes a simple method to estimate the initial rotor position of a three-phase star-connected switched reluctance motor at standstill without position or current sensor. The key principle of the initial rotor position estimation is based on the stator inductance variation related to the actual rotor position. In the proposed method, only two narrow pulse voltage injections are applied in sequence and the initial rotor position can be estimated by comparing phase voltages and simple calculation. The method is suitable for low-cost applications where motor parameters and phase current data are not required. The proposed method is implemented for a 6-stator-pole, 4-rotor-pole, and 1.5 kW three-phase star-connected switched reluctance motor. The experimental results show the effectiveness of the proposed method. The accuracy of the initial rotor position estimation is within 2.5 electrical degrees, which is sufficient to start-up the switched reluctance motor without rotor back-kicking.

关键词： Reluctance machines Rotors Reluctance motors Voltage Costs Inductance Motor drives Electric variables control Stator windings Industrial control

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Sensorless vector control of non-salient BLAC machines based on a modified rotor flux-linkage observer

Sensorless vector control of non-salient BLAC machines based...

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International Conference on Power Electronics and Drive Systems (PEDS)

作者： Pongpit Wipasuramonton Z. Q. Zhu David Howe Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathum Thani Thailand Department of Electronic and Electrical Engineering University of Sheffield Sheffield UK

The major problems of flux-linkage observer based sensorless techniques are drift and offset effects. To solve such problems, a modified rotor flux-linkage observer is firstly proposed to eliminate the drift phenomena. However, the offset occurrence still exists. Therefore, an adaptive offset cancellation technique is sequentially introduced to solve the offset phenomena. In addition, to further improve the performance of the proposed modified rotor flux-linkage observer, the influence of inaccurate machine parameters to the observer in terms of the estimated rotor position accuracy has been analyzed and, consequently, a simple steady-state rotor position error compensation technique has been introduced which, theoretically, makes the steady-state rotor position error become negligible and parameter insensitive. The performance of the proposed techniques, which was implemented on a low-cost fixed point DSP, is demonstrated experimentally.

关键词： Machine vector control Stators Steady-state Digital signal processing Voltage automation Error compensation Equations Sensorless control Costs

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Actuator Fault Detection and Diagnosis Based On Morphology-wavelet

Actuator Fault Detection and Diagnosis Based On Morphology-w...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Yi Zhang Guo Lian Hou Baojiang Wu College of light Industry Hebei Polytechnic University Department of Automation North China Electric Power University College of Computer and Automatic Control Hebei Polytechnic University

The paper described a novel method for detecting and identifying faults that occur in the actuator of control systems with input and output signals related to the component *** diagnosis algorithm consists of three steps: firstly,generalized morphological filter with multi-structure elements is designed to filter the random noise and impulse noise in actuator's input and output *** secondly,wavelet transform,which has been proposed for sensor's fault diagnosis some years ago,is developed for actuator's fault *** effectively extract the abruptly fault characteristic,wavelet transform was used to analyze the filtered signals in this *** the Multi Resolution Analyzing(MRA),the faults can be detected ***,according to calculating the Lipschitz Exponent(LE) at the fault's point,the fault type can be *** several typical faults such as fix,gain,bias have been *** effectiveness of the proposed approach is demonstrated by the means of experimental results and simulations.

关键词： filter Actuator Fault Detection and Diagnosis Based On Morphology-wavelet

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Yaw control via combined braking and steering

Yaw control via combined braking and steering

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European control Conference (ECC)

作者： B. Vanek B. Kulcsár P. Falcone G. Balas Computer and Automation Research Institute of the Hungarian Academy of Sciences Delft Center for System and Control Department of Signals and Systems Chalmers University of Technology Department of Aerospace Engineering and Mechanics University of Minnesota

Active yaw stabilization for passenger vehicles, following driver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tyre characteristics map, and an affine Linear Parameter Varying (LPV) plant. control is provided via a cascade connection of scheduled inverse tyre characteristics and an LPV controller, handling both the nonlinear dynamics an the non-affine tyre characteristics. Excellent tracking results are demonstrated with a high fidelity simulation even in the presence of noise and uncertainty.

关键词： Tires Force Mathematical model Wheels Vehicles Equations Nonlinear dynamical systems

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Switching robustness analysis for switched linear systems

Switching robustness analysis for switched linear systems

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Asian control Conference

作者： Yuping Peng Zhendong Sun Shuzhi Sam Ge Department of Electrical and Computer Engineering National University of Singapore Singapore Center of Control and Optimization College of Automation Science and Engineering South China University of Technology Guangzhou China

This paper investigates the stability of switched linear systems with the perturbed switching. In premises of introducing the notions of common child-path and parent-path, we define distance between switching paths. A constructive procedure is proposed for finding common child-paths, then we reveal a relationship between common child-path and parent-path, and subsequently formulate the distance. Finally, distance between switching paths is extended to relative distance between switching signals, which is used to analyze the robustness for a class of switched linear systems.

关键词： Robustness Linear systems Robust stability Sun Signal analysis Switched systems control systems Robust control Stability analysis controllability

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Train regulation for mass transit systems

Train regulation for mass transit systems

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European control Conference (ECC)

作者： Wagner E. Mendes Rafael S. Mendes Control System Group inside the Transport segment of Alstom São Paulo Department of Computer Engineering and Industrial Automation Campinas State University São Paulo Brazil

The train regulation problem is of particular importance among the scheduling problems found in mass transit systems, being characterized by trains running in urban regions taking passengers from one location to another. If the desired headway between trains, dwell-times in platforms and running times between platforms are determined and known a-priori, the steady state solution (timetable) can be calculated. However, real systems are subject to disturbances such as passengers preventing doors from closing, mechanical or electrical failures, etc., that can deviate the trains from the steady state. In this context, this work is concerned with the determination of a control law, i.e. a law for the determination of the arrival and departure times of each train on each platform in the system's cycles in order to reestablish and maintain the timetable (reference solution). The proposed control law is based on max-plus algebra concepts. The desired arrival and departure times of each train on each platform are calculated from the last occurrence instants of the system's events and from a set of matrices defined in max-plus algebra.

关键词： Europe

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Conservative power theory discussion and evaluation by means of virtual instrumentation

Conservative power theory discussion and evaluation by means...

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Brazilian Power Electronics Conference, COBEP

作者： Helmo K. M. Paredes Fernando P. Marafão Danilo I. Brandão Ivando S. Diniz School of Electrical and Computer Engineering Department of Electrical Energy Systems State University of Campinas-UNICAMP Sao Paulo Brazil Control and Automation Engineering Group of Automation and Integrating Systems São Paulo State University Sao Paulo Brazil

Considering different single and multiphase circuits feeding linear and non-linear loads, this paper presents theoretical discussions and experimental evaluation of the recent Conservative Power Theory (CPT), by means of Virtual Instrumentation concepts. The main goal is to analyze the results of such power theory definitions under nonsinusoidal and unbalanced conditions, pointing out its major advantages, possible drawbacks or relevant aspects for discussion.

关键词： Instruments Circuits Voltage Power engineering and energy Reactive power automation Power electronics Power engineering computing Automatic control Nonlinear control systems

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Signal and system representations on hyperbolic groups: Beyond rational orthogonal bases

Signal and system representations on hyperbolic groups: Beyo...

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International Conference on Computational Cybernetics (ICCC)

作者： Alexandros Soumelidis József Bokor Ferenc Schipp Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Computer and Automation Research Institute and Control Engineering Research Group Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Numerical Analysis Faculty of Informatics Eötvös Lonránd University Budapest Hungary

This paper investigates signal and system representations in special rational orthogonal bases of the Hardy space H 2 . These bases are derived from the Blaschke-group associated to the hyperbolic group SH(n) of matrices. Using the concept of the unitary group representations over H 2 , and the voice-transform, specific hyperbolic wavelet constructions - Blaschke-wavelets and the associated Blaschke-Fourier transform are constructed. State space representations of systems over hyperbolic groups are discussed, too, with the purpose to explore the perspectives of elaborating a unified system theory upon this conceptual base.

关键词： Risk management Decision making Fuzzy sets Uncertainty Fuzzy set theory Reliability engineering Risk analysis Cybernetics Fuzzy systems Informatics

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Disturbance analysis and control for an omnidirectional wheeled mobile robot

Disturbance analysis and control for an omnidirectional whee...

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IEEE International Conference on Mechatronics and automation

作者： Yixu Song Dalong Tan Meng Miao Department of Computer Science and Technology University of Tsinghua Beijing China Shenyan Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Beijing AeroSpace Control Center Beijing China

The mobile robot with an orthogonal-wheel assembly has omnidirectional motion ability and simple kinematic model for controller design. However, two sliced spheres that switch upon movement are likely to cause disturbances that act on the wheeled motor robot (WMR)'s body. The purpose of the traditional control for a WMR is high joint control stiffness using odometry, which might worsen the trajectory tracking performance of the WMR with orthogonalwheel assemblies. This is because the robot's vibration might cause wheel slippage. Thus, the real-time motion states of the WMR body must be obtained to enable the robot controller to suppress such vibration. This paper provides a method with which to estimate the velocities of the WMR using inner sensors. In our proposed method, the real-time velocities of the WMR are estimated using accelerometers and position-measurement sensors. The fused signal is fed into the WMR controller instead of into the odometry feedback signal. The experimental results demonstrate that the proposed method is effective.

关键词： Mobile robots Robotic assembly Motion control Switches Robot sensing systems Kinematics Trajectory Wheels Robot control Vibration control

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