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Constrained Predictive Current control in dq Frame for a Permanent Magnet Synchronous Machine 28

Constrained Predictive Current Control in dq Frame for a Per...

引用

28th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2023

作者： Costin, Madalin Lazar, Corneliu Gheorghe Asachi Technical University of Iasi Dept.of Automatic Control and Applied Informatics Iasi Romania Dunarea de Jos University of Galati Dept. of Automatic Control and Electrical Engineering Galati Romania

ISBN: (纸本)9798350339918

In the paper, the design and Simulink implementation of a predictive current control structure in dq frame for a permanent magnet synchronous machine (PMSM) are presented. Starting from the multivariable model of the currents in the dq reference frame, first it is decoupled and through the rejection of the disturbance introduced by the back-EMF, two single-input single-output (SISO) systems result whose dynamics are generated by R-L circuits. For these SISO systems, the model predictive control (MPC) algorithms are designed that allow the consideration of physical limitations through constraints The performances of the current control structure with MPC algorithms are compared with those obtained with the conventional PI controllers. © 2023 IEEE.

关键词： Model predictive control

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Discrete Optimal Tracking Problem for Linear Systems with Variable Disturbances 27

Discrete Optimal Tracking Problem for Linear Systems with Va...

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27th International Conference on System Theory, control and Computing, ICSTCC 2023

作者： Botan, Corneliu Ostafi, Florin Dept. of Automatic Control and Applied Informatics Technical University of Iasi Iasi Romania

ISBN: (纸本)9798350337983

The paper deals with an optimal tracking problem in the presence of disturbances. A linear system in discrete time is considered. The paper presents a procedure with computational advantages. Step variant functions are used for approximation of the disturbance and reference variables. Simulation results are indicated. © 2023 IEEE.

关键词： Linear systems

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Mixed Reality Framework for Eye-in-Hand Collaborative Robot-Human Interaction 27

Mixed Reality Framework for Eye-in-Hand Collaborative Robot-...

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27th International Conference on System Theory, control and Computing, ICSTCC 2023

作者： Sopon, Ionut Tincu, Cristina Ganciu, Aura Burlacu, Adrian Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9798350337983

In recent years, the manufacturing sector has undergone a significant transition from a paradigm of robotic autonomy to human-robot collaboration. This approach allows operators from different domains to rapidly adapt to a new way of working and reduces redundant learning costs, while also enabling intuitive robot control. To further enhance this paradigm, integrating Mixed Reality (MR) technology has emerged as a promising approach to creating and working in a virtual workspace while having a safe environment for training. This work develops a framework, based on digital twin representation, to integrate the MR with real-life equipment and humans. This allows for the control of a collaborative robot in an environment with objects or humans perceived by the eye-in-hand visual sensor. The efficiency of the proposed framework is emphasized by a comparison of Unity simulations versus the real-time behavior of the collaborative robot. © 2023 IEEE.

关键词： Mixed reality

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Detection of Epileptic Seizures With Autoencoders Working With Multiple EEG Frames 10

Detection of Epileptic Seizures With Autoencoders Working Wi...

引用

10th E-Health and Bioengineering Conference, EHB 2022

作者： Ferariu, Lavinia Mihalachi, Angela Dept. of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania

ISBN: (纸本)9781665485579

Electroencephalogram (EEG) signals can be used for discriminating between ictal and non-ictal phases, to protect people affected by epilepsy. Recent studies show the ability of autoencoders (AEs) to learn valuable EEG abstractions that can be effectively processed by classifiers. To some extent, information from previous frames could be useful for detection. However, the design should avoid using AEs with large input sizes, to prevent unsuccessful feature learning. This paper discusses AE-based schemes which allow the investigation of multiple successive frames. A hierarchical feature extractor is introduced to correlate long-term information via AEs of reduced input sizes, to support easy training. The experimental results indicate improved detection accuracy for the classification based on the proposed multi-frame hierarchical feature extractor, compared to feature extractors that work on a single frame, or use a priori/ a posteriori aggregation of frames. © 2022 IEEE.

关键词： Electroencephalography

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Cooperative adaptive cruise control with string stability based on DMPC for vehicle platooning 27

Cooperative adaptive cruise control with string stability ba...

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27th International Conference on System Theory, control and Computing, ICSTCC 2023

作者： Pauca, Ovidiu Lazar, Mircea Caruntu, Constantin F. Dept. of Automatic Control and Applied Informatics Gheorghe Asachi" Technical University of Iasi Iasi Romania Dept. of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)9798350337983

The cooperative adaptive cruise control (CACC) functionality received significant interest in the state-of-the-art due to its advantages in optimizing traffic flow. The model-based predictive control (MPC) strategy was used in various studies due to its advantages in improving the performance of the vehicles (reducing the travel costs, improving the quality of the travel by reducing sudden accelerations, and ensuring the stability of the platoons). Moreover, MPC solutions are built to maximize the advantages of vehicular communication by sharing predictions on states of vehicles (e.g., velocities, accelerations, trajectories). In addition, MPC is also used to compensate for the disturbances added by communications. Thus, this paper proposes a CACC strategy for a vehicle platoon. The solution is based on the distributed MPC (DMPC) strategy, and the controller is proposed in discrete time, ensuring predecessor-follower string stability for the whole platoon. © 2023 IEEE.

关键词： Vehicles

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From Model Predictive control to Data Driven control to Meet High Efficiency Objective of a PMSM Drive System 16

From Model Predictive Control to Data Driven Control to Meet...

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16th International Conference on applied and Theoretical Electricity, ICATE 2024

作者： Costin, Madalin Bivol, Ion 'Dunarea de Jos' University of Galati Dept. of Electrical Engineering and Energy Conversion Systems Galati Romania Gheorghe Asachi Technical University of Iasi Dept. of Automatic Control and Applied Informatics Iasi Romania

ISBN: (纸本)9798350388107

In this paper is proposed a Data Driven control (DDC) law of a Permanent Magnet Synchronous Machine (PMSM) drive as an alternative to the Model Predictive control (MPC) strategy. The DDC method is designed for the inner control structure of the PMSM drive, the outer speed loop being employed by a classical linear PI controller. Thus, the DDC is based on build up a database of the relevant quantities as electromagnetic torque, speed, voltages and current, all obtained in steady-state regime with MPC strategy, being selected for the highest efficiency values for a given pair of speed and torque. The learning process of the DDC strategy by a mutidimesional interpolation method leads to obtain high performances in both steady-state and dynamic regimes, without any additional optimal current reference command. A comparative analysis done in Matlab simulation environment of the results obtained by both MPC and DDC control laws shows the effectiveness of the last strategies. The DDC method provide a robust optimal control under energetic constraints, being more suitable then the classical MPC law that can not offers reliable results for a large area of conditions in practice. © 2024 IEEE.

关键词： MATLAB

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Constrained Predictive Current control in dq Frame for a Permanent Magnet Synchronous Machine

Constrained Predictive Current Control in dq Frame for a Per...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Madalin Costin Corneliu Lazar Dept.of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania Dept. of Automatic Control and Electrical Engineering "Dunarea de Jos" University of Galati Galati Romania

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Immersive Mixed Reality Framework for Enhanced Human-Robot Collaboration

Immersive Mixed Reality Framework for Enhanced Human-Robot C...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Ionut Sopon Denis-Ioan Plescan Adrian Burlacu Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

This paper focuses on developing a simulation platform that enhances Human-Robot Interaction through intuitive and safe interchanges between human operators and a UR5e robot by operating a Digital Twin via Mixed Reality. Using the ROS Noetic framework and Unity software for development, in conjunction with Microsoft HoloLens 2, this work presents a system based on Mixed Reality designed for collaborative robotic experiences. Moreover, a key innovation in this research is integrating a ZED camera for real-time human tracking, which enables the simultaneous simulation of humans and robots within a shared mixed environment. This advancement builds upon an existing digital twin of the robot. However, it also significantly enriches the system’s capabilities for ensuring safety and facilitating intuitive interactions, validating the implemented methodology through simulation and real-life experimental results. The paper examines the implications of this development in different industrial and research contexts. It highlights the growing significance of mixed-reality technologies in creating complex human-robot interaction systems that ensure safety and efficiency.

关键词： Technological innovation Service robots Robot vision systems Mixed reality Human-robot interaction Virtual reality Software Real-time systems Safety Digital twins

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Discrete Optimal Tracking Problem for Linear Systems with Variable Disturbances

Discrete Optimal Tracking Problem for Linear Systems with Va...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Corneliu Botan Florin Ostafi Dept. of Automatic Control and Applied Informatics Technical University of Iasi Iasi Romania

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A pose-free 2D-3D hybrid approach for visual servoing control systems

A pose-free 2D-3D hybrid approach for visual servoing contro...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Aura Ganciu Adrian Burlacu Radu-Laurenţiu Roşca Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Romania Iaşi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

This work is set to design pose-free visual feedback control laws. Our contribution is linked to improving 3D pose-free visual servoing strategy using 2D predictions of visual features’ trajectories. Given a set rigid body characterized by a set of 3D point features, our proposed visual servoing strategy enhanced with predictive elements is based on computing the following sample time positions of the point features given the known camera velocity from the previous time moment. In this way, the architecture decides to discard the point feature before exiting the field of view. Thus, any unnecessary computations are removed, and the camera’s motion is ensured to be more natural. The simulation results emphasize the potential of the new visual control architecture.

关键词： Visualization Three-dimensional displays Heuristic algorithms Computer architecture Cameras control systems Visual servoing Robustness Vectors Trajectory

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