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A Comprehensive Methodology of Field-Oriented control Design With Parameter Variation Analysis for Interior Permanent Magnet Synchronous Machine Drives

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IEEE Access 2025年 13卷 89524-89541页

作者： Tiago Davi Curi Busarello Abdullah Bubshait Oruganti V. S. R. Varaprasad Abdulhakeem Alsaleem Marcelo Godoy Simões Department of Control Automation and Computation Engineering Federal University of Santa Catarina Florianopolis Brazil Department of Electrical Engineering College of Engineering King Faisal University Al Ahsa Saudi Arabia Smart Transportation Electrification and Energy Research (STEER) Group Department of Electrical Computer and Software Engineering Faculty of Engineering and Applied Science Ontario Tech University Oshawa ON Canada Department of Electrical Engineering College of Engineering Qassim University Buraydah Saudi Arabia School of Technology and Innovations University of Vaasa Vaasa Finland

This paper proposes a comprehensive methodology for Field-Oriented control (FOC) with parameter variation analysis for Interior Permanent Magnet Synchronous Machines (IPMSM). The modeling approach for an IPMSM is first presented, followed by a step-by-step procedure for designing a vector-controlled strategy. The formulation is based on a dq-rotating reference frame aligned with the rotor shaft position. A key distinction of this methodology from traditional approaches is that the current controller is designed in the time domain based on desired time constants, while the speed control is formulated within a frequency response domain framework. The proposed hybrid approach enables accurate tuning of the Proportional-Integrator (PI) controllers for both current and speed control loops. Additionally, a parameter variation analysis is conducted to enhance the proposed methodology. The validity region for the design procedure is presented, ensuring that for any wide speed variation of the machine, loop gains are properly tuned. One of the main advantages of the proposed methodology is that it provides a fast, reliable, and accurate technique for implementing IPMSM drive systems. Results from a controller Hardware-in-the-Loop (C-HIL) setup with an external microcontroller are presented. The comprehensive design approach is validated under two different IPMSM parameter sets, demonstrating its effectiveness.

关键词： PI control Stators Tuning Mathematical models Velocity control Rotors Vectors Stator windings Robustness Microcontrollers

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Quantum Robust control for Time-Varying Noises Based on Adversarial Learning

Quantum Robust Control for Time-Varying Noises Based on Adve...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Haotian Ji Sen Kuang Daoyi Dong Chunlin Chen Department of Automation University of Science and Techonology of China Hefei China School of Engineering Australian National University Canberra Australia Department of Control and Systems Engineering School of Management and Engineering Nanjing University Nanjing China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

Time-varying noises are one of the reasons that make it difficult for quantum systems to complete control tasks. How to quantify the influence of time-varying noises on control results and how to design a control law that can resist time-varying noises are two important problems. In this paper, the adversarial learning is introduced into quantum control and the loss function under the worst-case noise is used as a way to quantify the impact of time-varying noises on control performance. We utilize the Gradient Ascent Pulse engineering (GRAPE) technique to search the worst-case noise and meanwhile offer a strategy to improve the robustness of the control law. Simulation experiments on a two-qubit system and a four-qubit system show that the found noises indeed can act as worst-case noises. Furthermore, the optimized control laws demonstrate good robustness to time-varying noises in state preparation tasks.

关键词： Robust control Quantum system Noise Pipelines control systems Robustness Adversarial machine learning Superconducting device noise Trajectory Time-varying systems

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Certificated Actor-Critic: Hierarchical Reinforcement Learning with control Barrier Functions for Safe Navigation

arXiv

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arXiv 2025年

作者： Xie, Junjun Zhao, Shuhao Hu, Liang Gao, Huijun Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

control Barrier Functions (CBFs) have emerged as a prominent approach to designing safe navigation systems of robots. Despite their popularity, current CBF-based methods exhibit some limitations: optimization-based safe control techniques tend to be either myopic or computationally intensive, and they rely on simplified system models;conversely, the learning-based methods suffer from the lack of quantitative indication in terms of navigation performance and safety. In this paper, we present a new model-free reinforcement learning algorithm called Certificated Actor-Critic (CAC), which introduces a hierarchical reinforcement learning framework and well-defined reward functions derived from CBFs. We carry out theoretical analysis and proof of our algorithm, and propose several improvements in algorithm implementation. Our analysis is validated by two simulation experiments, showing the effectiveness of our proposed CAC algorithm. Copyright © 2025, The Authors. All rights reserved.

关键词： Adversarial machine learning

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Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective

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IFAC-PapersOnLine 2023年第2期56卷 5735-5740页

作者： Thomas T. Enevoldsen Mogens Blanke Roberto Galeazzi Automation and Control Group Department of Electrical and Photonics Engineering Technical University of Denmark Kgs. Lyngby DK 2800 Denmark

This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the developments related to the Greenhoper, Denmark's first autonomous harbour bus. The collision and grounding avoidance scheme, called the Short Horizon Planner (SHP), is described and discussed in detail. Furthermore, the required autonomy stack for facilitating safe and rule-compliant collision avoidance is presented. The inherent difficulties related to adhering to the COLREGs are outlined, highlighting some of the operational constraints and challenges within the space of autonomous ferries and harbour buses. Finally, collision and grounding avoidance is demonstrated using a simulation of the whole Greenhopper autonomy stack.

关键词： Autonomous surface vehicles Guidance Navigarion and control Collision and grounding avoidance COLREGs compliance

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Integration of Hand Tracking and Process Mining to Improve Knowledge Transfer on the Shoopfloor

Integration of Hand Tracking and Process Mining to Improve K...

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International Conference on control, automation and Robotics (ICCAR)

作者： Yannick Dassen Yan Zhao Oliver Petrovic Werner Herfs Department Automation and Control Laboratory for Machine Tools and Production Engineering Aachen Germany Chair of Machine Tools Laboratory for Machine Tools and Production Engineering Aachen Germany

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

For many small and medium-sized companies in Germany, maintaining best practices on the shopfloor is essential for competitiveness. Due to the impending wave of retirements and the changing employment patterns of the younger generations, there is a risk that knowledge will be lost when employees leave. This calls for innovative solutions for the digital capture, storage and provision of knowledge. This article presents a method that uses machine learning to capture hand movements and thus generate event logs for evaluation based on process mining. Using an example from manual assembly, it is shown how this system can be used to record the actions of different employees and analyze them from an efficiency and ergonomic point of view in order to gain an insight into the individual strategies, routines and tricks of the employees during assembly and make them usable for everyone.

关键词： Ergonomics Employment Manuals Machine learning Companies Assembly Robots

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Dynamic Motion/Force control of Mobile Manipulators via Extended UDE

arXiv

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arXiv 2024年

作者： Gao, Songqun Ding, Wendi Cheng, Maotong Ren, Qinyuan Chen, Ben M. Department of Mechanical and Automation Engineering The Chinese University of Hong Kong 999077 Hong Kong College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the manipulator presents challenges for force interactive tasks of the mobile manipulator. However, current strategies often fail to account for this coupling in such scenarios. To address this, this paper presents a dynamic coupling-integrated manipulator model that requires only the manipulator dynamics and the mobile base kinematics, which simplifies the modeling process. In addition, embedding the dynamic model, an extended uncertainty and disturbance estimator (UDE) is proposed for the mobile manipulator, which separately estimates the dynamic coupling terms and other unmodeled uncertainties, incorporating them into the feedforward and feedback control loops, respectively. The proposed approach increases the speed of response of the system and improves the dynamic robot-environment interaction (REI) performance of the mobile manipulator. A series of simulations and experiments of a wall-cleaning task are conducted to verify the effectiveness of the proposed approach. Ablation studies demonstrate that the proposed approach significantly improves the motion/force tracking performance when the mobile base is in dynamic motion. Copyright © 2024, The Authors. All rights reserved.

关键词： Feedback control

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Data Augmentation Integrated with Feature-Enhanced Convolutional Neural Network for Imbalanced Fault Diagnosis in Rolling Bearings 13

Data Augmentation Integrated with Feature-Enhanced Convoluti...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Wang, Li Qu, Qilin Wang, Yanwei Wong, David Shan-Hill Zheng, Ying School of Artificial Intelligence and Automation Huazhong University of Science and Technology China -Belt and Road Joint Laboratory on Measurement and Control Technology Wuhan430074 China School of Mechanical & Electrical Engineering Wuhan Institute of Technology 693 Chuxiong Road Wuhan430073 China National Tsing-Hua University Department of Chemical Engineering Hsinchu30071 Taiwan

ISBN: (纸本)9798350361674

Imbalance in fault samples is a key problem with most rolling bearing datasets in real industrial processes, limiting the performance of fault detection. In addition, existing fault diagnosis methods for rolling bearings do not adopt a modular division between the initial layer and the classification layer. This lack of modularization inhibits the full activation of the network's feature extraction capabilities and impedes subsequent model improvements. In this paper, a novel fault diagnosis method based on data augmentation integrated with a feature-enhanced convolutional neural network (DA-FECNN) is proposed. First, Variational Autoencoder-Generative Adversarial Network (VAE-GAN) is utilized to expand the number of fault samples and improve the diversity of few-shot. Second, a uniform feature-enhanced structure is designed with a feature extraction module, a multi-scale classification module, and a reconstruction module. The network's ability on feature extraction is improved by focusing on high quality features. Thereby, accurate fault classification is realized simultaneously. Experiments on real world data show the effectiveness of the proposed method on fault diagnosis task. © 2024 IEEE.

关键词： Convolutional neural networks

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Accelerated Degradation Modeling of Power MOSFET Under Multiple Stresses 12

Accelerated Degradation Modeling of Power MOSFET Under Multi...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety engineering, QR2MSE 2022

作者： Ye, Xuerong Hu, Yifan Feng, Rui Chen, Cen Zhai, Guofu Tang, Loon Ching School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Shanghai Aerospace Control Technology Institute Shanghai China Department of Industrial and Systems Engineering & Management National University of Singapore Singapore

ISBN: (纸本)9781839538360

Power MOSFET is one of the most critical components in power electronic converters. However, it often performs a lower reliability index under multiple stresses. Conventional single-stress accelerated degradation test (ADT) and corresponding statistical inference are unable to evaluate its reliability accurately. In this article, a new accelerated degradation model is designed by combining multi-stress accelerated model and the generalized Wiener process model. This comprehensive model not only establishes the relationship between drift coefficient and multiple stresses but also take the nonlinearity and uncertainties existing in degradation process into consideration. Subsequently, an ADT with temperature, electrical and vibration stresses for power MOSFET is carried out to obtain the degradation data under different stress levels, which is employed for unknown parameter estimation. Comparative analysis demonstrates that the proposed model can provide a more accurate and reasonable reliability assessment result. © 2022 IEEE.

关键词： Power MOSFET

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Improved Hybrid Attention Learning System for Remaining Useful Life Prediction 42

Improved Hybrid Attention Learning System for Remaining Usef...

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42nd Chinese control Conference, CCC 2023

作者： Li, Zhi Sun, Tao Ma, Song Yang, Bin Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian116024 China Tsinghua University Department of Automation Beijing100084 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China

ISBN: (纸本)9789887581543

Remaining useful life (RUL) prediction can improve the availability and efficiency of equipment or system by providing timely maintenance suggestions. In this paper, an improved hybrid attention learning system for RUL prediction is developed. By introducing adaptive weighting, a hybrid attention mechanism with self attention and external attention is designed. The mechanism enhances the attention to samples with similar performance degradation patterns, and improves the feature extraction ability of the learning system for sensor data with strong temporal correlation. Finally, we conducted a series of simulation experiments on the commercial modular aviation propulsion system simulation (C-MAPSS) dataset to verify the effectiveness and superiority of the proposed method in RUL prediction. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Learning systems

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Improved Fixed-Time Convergence Guidance Scheme Design and Its Application to Missile

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Guidance, Navigation and control 2023年第4期3卷 85-110页

作者： Lei Cui Kang Zhang Xijing Hu Zhe Li Jianying Yang Nan Jin Department of Automation Tianjin University Tianjin 300072P.R.China Beijing Institute of Control and Electronic Technology Beijing 100045 P.R.China Department of Mechanics and Engineering Science Peking University Beijing 100871P.R.China CASIC Research Institute of Intelligent Decision Engineering Beijing 100074 P.R.China

This study presents a fixed-time convergence guidance scheme for impact time and angle ***,two improved fixed-time stable systems are presented,which have smaller initial control command and better terminal convergence.16 An improved fixed-time extended state observer is proposed to provide accurate estimation of system states and disturbance,which effectively solves peaking value ***,an improved fixed-time sliding mode controller is derived,which avoids the singular problem and achieves faster convergence rate with smaller initial control ***,a new guidance scheme with impact angle and impact time constraints is proposed for intercepting a stationary *** introducing a virtual target,the guidance process is divided into two *** proposed fixed-time controller is employed in the first *** method with a virtual leader ensures that the missile intercept the virtual target with desired line-of-sight angles at a specific *** using the proportional navigation guidance law,the missile keeps travelling with desired flight-path angles to hit the real target in the second stage,17 so as to achieve the impact time and angle ***,the feasibility and effectiveness of the proposed guidance scheme in different engagement scenarios are verified by numerical simulations with comparisons.

关键词： Fixed-time stable sliding mode control extended state observer guidance scheme impact time and angle control

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