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Cascade motion control with synchronised saturation ⁎

IFAC-PapersOnLine 2024年第7期58卷 31-36页

作者： Daniel Bilbao-Moreno Iker Elorza Eloy Irigoyen IKERLAN Paseo José María Arizmendiarreta 2 Arrasate/Mondragon 20500 Spain Department of Automatic Control and Systems Engineering Universidad del País Vasco UPV/EHU Pl. Ingeniero Torres Quevedo Bilbao 48013 Spain

This paper introduces an innovative motion control scheme tailored for traction systems, employing a cascade PI controller architecture. The internal loop regulates speed, and the external loop generates the necessary speed setpoint for position control. Two feedforward actions are strategically implemented in each loop to address potential disturbances and optimise overall performance. An inherent challenge in cascade control systems is the phenomenon known as windup, where integral components accumulate errors due to persistent disturbances or sudden changes in position reference. In order to mitigate this phenomenon, a control approach which integrates corresponding saturations for each loop and ensures synchronisation between them is developed. In this way, the external loop does not generate speed setpoints beyond physical thresholds during internal loop saturation. This strategic limitation prevents overly aggressive responses and eliminates undesired traction demands during saturation events. The proposed control scheme is validated through simulations that incorporate various disturbances, and the analysis of results confirms its suitability, showcasing improvements in the performance of such control schemes, especially in scenarios prone to windup.

关键词： Cascade control motion control windup saturation synchronisation PID control feedforward actions

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DAFNI: A computational platform to support infrastructure systems research

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Proceedings of the Institution of Civil Engineers: Smart Infrastructure and Construction 2023年第3期176卷 108-116页

作者： Matthews, Brian Hall, Jim Batty, Michael Blainey, Simon Cassidy, Nigel Choudhary, Ruchi Coca, Daniel Hallett, Stephen Harou, Julien J James, Phil Lomax, Nik Oliver, Peter Sivakumar, Aruna Tryfonas, Theodoros Varga, Liz Scientific Computing Department Science and Technology Facilities Council Didcot United Kingdom School of Geography and the Environment University of Oxford Oxford United Kingdom Centre for Advanced Spatial Analysis University College London London United Kingdom Transportation Research Group Faculty of Engineering and Physical Sciences University of Southampton Southampton United Kingdom Department of Civil Engineering University of Birmingham Birmingham United Kingdom Department of Engineering University of Cambridge Cambridge United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom Centre for Environmental and Agricultural Informatics Cranfield University Cranfield United Kingdom Department of Mechanical Aerospace and Civil Engineering University of Manchester Manchester United Kingdom School of Engineering Newcastle University Newcastle United Kingdom School of Geography University of Leeds Leeds United Kingdom Department of Civil and Environmental Engineering Imperial College London London United Kingdom Department of Civil Engineering University of Bristol Bristol United Kingdom Department of Civil Environmental and Geomatic Engineering University College London London United Kingdom

Research into the engineering of infrastructure systems is increasingly data intensive. Researchers build computational models to explore scenarios such as investigating the merits of infrastructure plans, analysing historical data to inform system operations or assessing the impacts of infrastructure on the environment. Models are more complex, at higher resolution and with larger coverage. Researchers also require a 'multi-systems' approach to explore interactions between systems, such as energy and water with urban development, and across scales, from buildings and streets to regions or nations. Consequently, researchers need enhanced computational resources to support cross-institutional collaboration and sharing at scale. The Data and Analytics Facility for National Infrastructure (DAFNI) is an emerging computational platform for infrastructure systems research. It provides high-throughput compute resources so larger data sets can be used, with a data repository to upload data and share these with collaborators. Users' models can also be uploaded and executed using modern containerisation techniques, giving platform independence, scaling and sharing. Further, models can be combined into workflows, supporting multi-systems modelling and generating visualisations to present results. DAFNI forms a central resource accessible to all infrastructure systems researchers in the UK, supporting collaboration and providing a legacy, keeping data and models available beyond the lifetime of a project. © 2023 Emerald Publishing Limited: All rights reserved.

关键词： Urban growth

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REGULARIZED HIGHER-ORDER TAYLOR APPROXIMATION METHODS FOR COMPOSITE NONLINEAR LEAST-SQUARES

arXiv

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arXiv 2025年

作者： Nabou, Yassine Necoara, Ion Automatic Control and Systems Engineering Department National University of Science and Technology Politehnica Bucharest Romania Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics The Romanian Academy Bucharest Romania

In this paper, we develop a regularized higher-order Taylor based method for solving composite (e.g., nonlinear least-squares) problems. At each iteration, we replace each smooth component of the objective function by a higher-order Taylor approximation with an appropriate regularization, leading to a regularized higher-order Taylor approximation (RHOTA) algorithm. We derive global convergence guarantees for RHOTA algorithm. In particular, we prove stationary point convergence guarantees for the iterates generated by RHOTA, and leveraging a Kurdyka-Lojasiewicz (KL) type property of the objective function, we derive improved rates depending on the KL parameter. When the Taylor approximation is of order 2, we present an efficient implementation of RHOTA algorithm, demonstrating that the resulting nonconvex subproblem can be effectively solved utilizing standard convex programming tools. Furthermore, we extend the scope of our investigation to include the behavior and efficacy of RHOTA algorithm in handling systems of nonlinear equations and optimization problems with nonlinear equality constraints deriving new rates under improved constraint qualifications conditions. Finally, we consider solving the phase retrieval problem with a higher-order proximal point algorithm, showcasing its rapid convergence rate for this particular application. Numerical simulations on phase retrieval and output feedback control problems also demonstrate the efficacy and performance of the proposed methods when compared to some state-of-the-art optimization methods and software. Copyright © 2025, The Authors. All rights reserved.

关键词： Feedback control

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GAPSO-Based Traffic Signal control in Isolated Intersection with Multiple Objectives 2nd

GAPSO-Based Traffic Signal Control in Isolated Intersection ...

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2nd International Symposium on Simulation and Process Modelling, ISSPM 2020

作者： Chen, Yifan Qiao, Feng Guo, Lingzhong Liu, Tao Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS13JD United Kingdom

ISBN: (纸本)9789813345744

In this paper, an optimization algorithm is presented to deal with the issue of traffic signal timing in an isolated intersection in rush hour aiming at reducing traffic congestion. It selects the traffic capacity, number of stops, and delay time as the objective of the optimization, and the genetic algorithm (GA) is integrated with the particle swarm optimization (PSO) algorithm to obtain optimized traffic signal timing plan to upgrade the performance of intersection with faster convergence and higher accuracy. A numerical simulation study is conducted on MATLAB as a case study with a genetic algorithm particle swarm optimization (GAPSO), and the simulation results show that the proposed GAPSO algorithm outperforms the conventional PSO algorithms. In addition, with the presented isolated intersection multi-objective optimization model, intersection capacity is improved effectively. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Genetic algorithms

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Investigation of the Current Conversion Error of Rogowski Coil in a Wide Temperature Range

Investigation of the Current Conversion Error of Rogowski Co...

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2022 International Ural Conference on Electrical Power engineering, UralCon 2022

作者： Yablokov, Andrey Kabakov, Pavel Gotovkina, Elena Ivanovo State Power Engineering University Named after V.I. Lenin Department of Electric Power Systems Automatic Control Ivanovo Russia Ivanovo State Power Engineering University Named after V.I. Lenin Department of Theoretical Foundations of Electrical Engineering and Electrotechnology Ivanovo Russia

ISBN: (数字)9781665466523

ISBN: (纸本)9781665466523

Rogowski coils are widely used for converting high-ampere currents in electrical installations. Large number of manufacturers produce Rogowski coils in various form factors. The use of this type of converters is promising for relay protection of electric power systems equipment due to such advantages as linearity of conversion, absence of saturation and residual magnetization phenomena, high accuracy of high-ampere current conversion. The metrological characteristics of the Rogowski coil depend on various factors that do not affect traditional current converters (electromagnetic transformers). One of these factors is the ambient temperature. The impact of ambient temperature can lead to an irreversible change in the size of coil turn and a corresponding change in the measurement error. In addition, commercially available Rogowski coils have a temperature coefficient of error of the conversion ratio from 0.005 to 0.02%/°C according to datasheets. Non-traditional current converters do not have sufficient experience in the conditions of electric power facilities operating in comparison with electromagnetic transformers. A comprehensive study of the characteristics of Rogowski coils is needed before their large-scale application for current measurement in electric power systems. This article is devoted to the study of the conversion errors of Rogowski coils in a wide temperature range corresponding to a moderately cold climate. © 2022 IEEE.

关键词： Temperature

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Study of the Influence of Rolling Modes on the Operation of Interconnected Electric Drives of a Rolling Mill 4

Study of the Influence of Rolling Modes on the Operation of ...

引用

4th IEEE KhPI Week on Advanced Technology, KhPI Week 2023

作者： Tytiuk, Valerii Busher, Victor Kalinin, Alexey Chornyi, Oleksii Druzhinin, Valeriy Halushko, Dmytro Department of Electromechanics Kryvyi Rih National University Kryvyi Rih Ukraine Dept. of Electrical Engineering and Electronics National University "Odessa Maritime Academy" Odessa Ukraine Department of Informative computer systems Abylkas Saginov Karaganda Technical University NPJSC Karaganda Kazakhstan Institute of Electromechanics Energy Saving and Automatic Control Systems Kremenchuk Mykhailo Ostrogradskyi National University Kremenchuk Ukraine Department of Power Engineering Karaganda Industrial University NPJSC Temirtau Kazakhstan Dept. of Electrical Engineering Ukrainian State University of Science and Technologies Dnipro Ukraine

ISBN: (纸本)9798350395532

The paper is devoted to study of the influence of rolling modes on the performance of powerful interconnected electric drives of a hot rolling mill under the action of an electromagnetic coupling circuit between the electric drives of the roughing and finishing groups. The action of the electromagnetic coupling circuit manifests itself in the form of the influence of impact loads of synchronous electric drives on the angular velocity of direct current electric drives of the finishing group of the mill. The parameters of the electromagnetic coupling circuit are determined by the power supply scheme and equipment parameters. Values of impact loads applied to a synchronous motor depend on the rolling process parameters, in particular, the chemical composition of the rolled steel and the temperature of the ingot. The paper presents the results of calculating the rolling power for various rolling mode parameters. Using mathematical modeling in Simulink, numerical estimates of the influence of rolling modes on the magnitude of the voltage drop in the power supply unit and the drop in the angular velocity of the electric drive of the finishing group were obtained on the example of a wide-strip hot rolling mill 1700 of ArcelorMittal Temirtau JSC. © 2023 IEEE.

关键词： Hot rolling

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ATO system for CBTC-based railways: Planning and disturbance estimation for enhanced automation

引用

Results in engineering 2025年 26卷

作者： Bilbao-Moreno, Daniel Elorza, Iker Irigoyen, Eloy Trojaola, Ignacio IKERLAN Paseo José María Arizmendiarrieta 2 Arrasate/Mondragon20500 Spain Department of Automatic Control and Systems Engineering Universidad del País Vasco UPV/EHU Pl. Ingeniero Torres Quevedo Bilbao48013 Spain

This article presents a control architecture for the automatic Train Operation (ATO) subsystem within the automatic Train control (ATC) system, particularly in the context of Communications-Based Train control (CBTC). The high-level component of the ATO, known as the mesoscopic layer, focuses on generating optimal setpoints to meet the requirements of the railway-level control layer, referred to as the macroscopic layer. This facilitates the generation of setpoints for various modes of operation, such as economical driving (ECO) mode and high-performance driving (TURBO) mode. These setpoints are utilised by the low-level component of the ATO, the microscopic layer, which implements a novel control scheme that generates commands to ensure the train reaches the desired position in the required operation time, meets all macroscopic requirements and mitigates undesirable effects due to actuator saturation. Additionally, a designed disturbance observer enables the control architecture to adapt the optimal setpoints, minimising their impact on system response. The results confirm that the designed architecture robustly meets control objectives autonomously, even in the presence of unexpected uncertainties, significantly enhancing the efficiency and reliability of the ATO within a CBTC framework and ensuring optimal performance across various operating conditions and railway tracks. © 2025 The Author(s)

关键词： Subways

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Towards construction of analog solver of Schroedinger and Ginzburg-Landau equation based on Long Line

arXiv

引用

arXiv 2023年

作者： Pluszyński, Lukasz Pomorski, Krzystof Cracow University of Technology Department of Computer Science Poland Cracow University of Technology Department of Automatic Control and Computer Engineering Poland Quantum Hardware Systems Lodz Poland

The analog electronic computers are a type of circuitry used to calculate specific problems using the physical relationships between the voltages and currents following classical laws of physics. One specific class of these circuits are computers based on the interactions between passive circuit elements. Models presented by Gabriel Kron in 1945 are the example of using such passive elements to construct a solver for the problem of free quantum particles confined by rectangular potential. Numerical validation of Kron's second model is conducted for different shapes of particle confining potential. Kron's model is generalized by introduction of non-linear resistive elements what implies deformation of Schroedinger equation solution into Ginzburg-Landau form. © 2023, CC BY.

关键词： Analog computers

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Wirelessly Actuated Rotation-free Magnetic Motor

Wirelessly Actuated Rotation-free Magnetic Motor

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Umur Ulas Harman Ahmed Hafez Cameron Duffield Zihan Zhao Luke Dixon Daniela Rus Shuhei Miyashita Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Insigneo Institute for in Silico Medicine

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper addresses the challenge of actuating millimetre-sized motors, which are wirelessly driven by external magnetic fields. Traditional approaches, relying on rotating magnetic fields, often inadvertently cause the entire robot – especially if it is small and lightweight – to rotate, instead of a specified shaft in the motor. To overcome this issue, our study introduces a novel mechanism that leverages symmetrically configured magnetic motors to cancel out the torques, thus preventing unwanted rotation of the robot. This is achieved by utilizing a magnetic field along a single axis to induce rotational movement. The design features two millimetre-sized rotating magnets that interact to achieve a 90 ◦ rotation, complemented by an external magnetic field that accomplishes the remaining 270 ◦ , thus completing a full rotation. Furthermore, we demonstrate that applying a perpendicularly oriented magnetic field can inversely affect the motor’s rotation direction. A proof-of-concept experiment employing this mechanism successfully actuated a gripper in a water tank while it is free-floating, showcasing its potential for enhancing robotic applications at the sub-centimeter scale, where the small net torque of a miniature motor is essential.

关键词： Water Shafts Torque Gears Net zero Storage management Motors Permanent magnets Magnetic fields Grippers

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Fast and Robust Energy Router control in Dynamic Conditions Using Flatness-Based control Theory

Fast and Robust Energy Router Control in Dynamic Conditions ...

引用

Compatibility in Power Electronics (CPE)

作者： Mohammadreza Azizi Oleksandr Husev Carlos Roncero-Clemente Oleksandr Veligorskyi Ryszard Strzelecki Department of Radiotechnic and Embedded Systems Chernihiv Polytechnic National University Chernihiv Ukraine Department of Electric Electronic and Automation Engineering University of Extremadura Badajoz Spain Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland

ISBN: (数字)9798331515171

ISBN: (纸本)9798331515188

In this paper, flatness-based control theory is developed to enhance the dynamic performance of a multiport energy router. The energy router integrates multiple power sources and sinks, including photovoltaic systems, battery storage, the grid, and various loads. Consequently, any sudden change in a subsystem can induce dynamic conditions across the entire system. The presented method controls the grid-side inverter and regulates the de link voltage. To implement this control approach, the system equations have been established, and it has been demonstrated that the system is differentially flat. Afterward, the controller design has been addressed. The simulation results confirm the proper performance of this method, and the comparisons made validate the high speed and accuracy of the system responses compared to conventional solutions.

关键词： Photovoltaic systems Power engineering Accuracy Simulation Modulation control systems Inverters Mathematical models control theory Voltage control

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