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Measured disturbance estimation for model predictive controller

Mediterranean Journal of Measurement and control 2006年第3期2卷 144-151页

作者： Kulcsar, Balazs Bokor, J. Department of Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper presents the Model Predictive controller design process when an unknown input observer provides measured disturbance form unmeasured one. Instead of using an unmeasured disturbance dynamic implemented into the controller, the joint observer-controller uses the estimated measured exogenous disturbance signal. Furthermore the observer can send an alarm sign to the supervisor. The detection and isolation of the unmeasured disturbance is computed by the geometric based strategy called Fundamental Problem in Residual Generation. Better the estimation of the disturbance is, better the rejection of the controller. The measured disturbance could be anticipated. A numerical example explains the effectiveness of the estimation and the usage of the unmeasured disturbance detection. Copyright © 2006 SoftMotor Ltd.

关键词： Predictive control systems

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Power Losses for IGCTs and Diodes in MV Three-level Inverters

Power Losses for IGCTs and Diodes in MV Three-level Inverter...

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International Conference on Power Electronics and Drive systems (PEDS)

作者： Yuan Liqiang Zhao Zhengming Yang Zhi Department of Electrical Engineering State Key Lab of Control and Simulation of Power System Tsinghua University Beijing China Department of Frequency-converter and Control System GuoDian NanJing Automation Company Limited Nanjing China

The power-loss models for different switching states of IGCTs and diodes in MV (medium voltage) three-level NPC (neutral point clamped) inverters are presented in this paper. The models, simulation implementation and the revisional experiments on IGCT test platform are described in details. The relation between the power losses and the other elements of the inverter is analyzed and discussed.

关键词： Diodes Switches Pulse width modulation inverters Power system modeling Medium voltage Variable speed drives Circuits Cooling Pulse width modulation Snubbers

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control of Five-qubit system Based on Quantum Reinforcement Learning

Control of Five-qubit System Based on Quantum Reinforcement ...

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International Conference on Computational Intelligence and Security

作者： Daoyi Dong Chunlin Chen Zonghai Chen Chenbin Zhang Department of Automation University of Science and Technology Hefei Anhui China Key Laboratory of Systems and Control Chinese Academy and Sciences Beijing China Department of control and system engineering School of Management and Engineering Nanjing University Nanjing China

ISBN: (纸本)1424406048

controlling the multi-qubit system is a key task for practical quantum information processing. In this paper, the control problem of five-qubit is studied. A novel quantum reinforcement learning algorithm based on quantum superposition principle is proposed for the quantum control problem. The simulated result shows that quantum reinforcement learning can effectively find the optimal control sequence through fast learning

关键词： control systems Learning Quantum mechanics Automatic control automation Optimal control Quantum computing Nuclear magnetic resonance Information processing Information theory

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Investigation of Transient Performance of Capacitor Voltage Transformer

Investigation of Transient Performance of Capacitor Voltage ...

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National Proceedings Power and Energy Conference (PECon)

作者： Ab. Halim Abdul Bakar Cheng Hock Lim Saad Mekhilef Protection Department Transmission Division TNB Electrical Energy & Power System Universiti Malaya Malaysia Lecturer Department of Electrical Engineering University of Malaya deputy director Center for Research Power Electronics & Drives Automation and Control.

This paper reports the digital-time domain and frequency domain studies on a typical 132 kV capacitor voltage transformer (CVT) model. The transient studies are conducted using alternative transient program (ATP-EMTP). Simulation results corresponding to the CVT transient response under both system fault and ferroresonance condition are reported in this paper. Transient studies are performed (1) to identify the CVT components that contribute to the transient response of CVT, (2) to determine system condition that affect the CVT transient response. A lightning simulation case study is also presented.

关键词： Capacitors Voltage transformers Power system transients Switches Ferroresonance Lightning Circuits Power system modeling Transient response Power system reliability

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Self calibrating procedure for a 3D force observer

Self calibrating procedure for a 3D force observer

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44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

作者： Gámez García, J. Robertsson, A. Ortega, J. Gómez Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Department Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)0780395689

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently In order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system Identification. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Automatic Calibration Procedure for a Robotic Manipulator Force Observer

Automatic Calibration Procedure for a Robotic Manipulator Fo...

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IEEE International Conference on Robotics and automation (ICRA)

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University Jaen Spain Department of Automatic Control Lund University Lund Sweden

In this paper, we propose a method for self-calibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force exerted by a manipulator to its environment, by means of active motion. In robotic operation, during contact transition accelerometers and force sensors play a very important role and serve to overcome many of the difficulties of uncertain world models and unknown environments, limiting the domain of application of current robots used without external sensory provided. The calibration procedure helps to improve the performance as well as enhanced stability and robustness for the transition phase. A variety of accelerometers were used to validate the procedure. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. An impedance control scheme was proposed to verify the improvement. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Calibration Robotics and automation Manipulators Robot sensing systems Force sensors Accelerometers Robust stability Service robots Fuses Motion estimation

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Self Calibrating Procedure for a 3D Force Observer

Self Calibrating Procedure for a 3D Force Observer

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IEEE Conference on Decision and control

作者： J.G. Garcia A. Robertsson J.G. Ortega R. Johansson System Engineering and Automation Department Jaen University. Campus Las Lagunillas Jaen Spain Dept. of Automatic Control Lund University Lund Sweden System Engineering and Automation Department Jaen University Jaen Spain

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system identification. The experiments were carried out on an ABB industrial robot with open control system architecture.

关键词： Force sensors Manipulator dynamics Robot sensing systems Service robots Force measurement Torque measurement Wrist End effectors Fuses Accelerometers

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Modeling earth albedo for satellites in earth orbit

Modeling earth albedo for satellites in earth orbit

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AIAA Guidance, Navigation, and control Conference 2005

作者： Bhanderi, Dan D.V. Bak, Thomas Aalborg University Fredrik Bajers Vej 7C DK-9220 Aalborg Oest Denmark Danish Institute of Agricultural Sciences Schüttesvej 17 DK-8700 Horsens Denmark Department of Control Engineering Denmark Research Group Department of Automation and System Technology

ISBN: (纸本)1563477378

Many satellite are influenced by the Earth's albedo, though very few model schemes exist, in order to predict this phenomenon. Earth albedo is often treated as noise, or ignored completely. When applying solar cells in the attitude hardware, Earth albedo can cause the attitude estimate to deviate with as much as 20 deg. Digital Sun sensors with Earth albedo correction in hardware exist, but are expensive. In addition, albedo estimates are necessary in thermal calculations and power budgets. We present a modeling scheme based on Earth reflectance, measured by NASA's Total Ozone Mapping Spectrometer, in which the Earth Probe Satellite has recorded reflectivity data daily since mid 1996. The mean of these data can be used to calculate the Earth albedo given the positions of the satellite and the Sun. Our results show that the albedo varies highly with the solar angle to the satellite's field of view, and that the longitude of the satellite position is significant to the model output. The results also show that the calculated albedo is generally lower than it would be expected based only on the reflectivity data. Copyright © 2005 by Aalborg University.

关键词： Space applications

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Snubberless switching-off characteristics of IGCTs equipped in high power three-level neutral point clamped converters

Snubberless switching-off characteristics of IGCTs equipped ...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Liqiang Yuan Zhengming Zhao Haitao Zhang Zhi Yang Bing Li Jianzheng Liu Department of Electrical Engineering Tsinghua University Beijing China Department of Frequency-Converter and Control System Guodian Nanjing Automation Company Limited Nanjing China

Along with the improved design and broad applications of multi-level topologies, as a new commercial power switch device in recent years, IGCT has led the rapid development of high power converters in many applications, such as medium voltage adjustable speed drive and FACTs. Since the power electronic device is the base of these converters, the switching-off characteristics of IGCTs have become one of the key points in converters' design and analysis, especially when snubber circuits are absent. This paper focuses on the snubberless switching-off characteristics of IGCTs equipped in the high power three-level neutral point clamped (NPC) converter. According to the physical characteristics of switch devices and commutating mechanism between different switching processes in the converter, the switching-off characteristics of IGCTs in different topology positions under different switching conditions are described, simulated and tested. The results of simulation and experiments are compared, especially the voltage spikes by IGCTs' switching off. The relation between the switching-off characteristics and the other elements of the converter is also discussed in detail, such as topology position, PWM strategy and mechanical structure. Finally, some helpful conclusions for high power converters' design and analysis are drawn

关键词： Switching converters Circuit topology Switches Medium voltage Variable speed drives Power electronics Switching circuits Snubbers Testing Pulse width modulation

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Unknown Input Detection Using Receding Horizon Approach

Unknown Input Detection Using Receding Horizon Approach

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IEEE International Symposium on Intelligent control (ISIC)

作者： B. Kulcsar J. Bokor Department of Transport Automation Faculty of Transportation Engineering Budapest University슠of슠Technology슠and슠Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

The paper offers the possibility of the design of unknown input detection for dynamic systems under external noise effect. The presented geometric based fundamental problem in residual generation (FPRG) method uses on the one hand the Kalman filtering and on the other hand the moving horizon estimation (MHE) when stochastic noise on the input and on the output, with additive failure directions, are presents. The paper combines the optimal Kalman and MHE method with geometric based unknown input observer strategy. The MHE solution makes to treat constraints during the estimation process possible. A numerical example supports the necessity of constrained unknown input estimation

关键词： Fault detection State estimation control systems Kalman filters Space technology Additive noise automation Stability Predictive models Predictive control

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