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International Conference on Power Drives systems (ICPDS)

作者： Aleksandr Mamatov Marina Babayeva Sergei Lovlin Abdullin Artur Madina Tsvetkova Faculty of Control Systems Robotics IFMO University St. Petersburg Russia

ISBN: (数字)9781728165387

ISBN: (纸本)9781728165394

In this paper, the application of a laboratory platform for electric machine testing in the educational process is presented. It is used in order to identify unknown parameters of a synchronous machine with permanent magnets. During the identification process, methodological instructions for students' practical assignments were created. The present work gives an overview of the usage of the laboratory equipment in order to train the required competencies in young specialists.

关键词： Pulse width modulation inverters Permanent magnet machines Permanent magnets Mathematical model Synchronous machines Testing Switching circuits

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Model Predictive control of a Direct Current Motor Utilizing Lookup Tables

Model Predictive Control of a Direct Current Motor Utilizing...

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International Conference on Power Drives systems (ICPDS)

作者： Alecksey Anuchin Andrei Bogdanov Galina Demidova Dmitrii Savkin Ksenya Fedorova Maria Gulyaeva Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728165387

ISBN: (纸本)9781728165394

The problem of unpredictable acoustic behaviour of the finite control set model predictive control (MPC) can be solved in continuous control set MPC. However, continuous control set MPC usually requires huge computation efforts or analytical solution of the non-linear equations of the motor, which is not always possible. This paper considers the option of precalculation of all control commands for each combination of the input variables. This approach is applicable for the drives with limited number of state variables, such as direct current motor or switched reluctance machine. An example of the control system of direct current motor with torque stabilization and minimization of the ohmic losses was implemented using simulation model. The 4-dimensional lookup table was used for armature current control and 2-dimensional lookup table was used for field winding control. The simulation results show rapid torque stabilization together with losses minimization.

关键词： Torque Memory management Switches DC motors control systems Minimization Predictive control

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Robust Stabilization of control Affine systems with Homogeneous Functions ⁎

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IFAC-PapersOnLine 2020年第2期53卷 6311-6316页

作者： Konstantin Zimenko Andrey Polyakov Denis Efimov Faculty of Control Systems and Robotics ITMO University 49 Kronverkskiy av. 197101 Saint Petersburg Russia. Inria Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France

The stabilization problem of the affine control system ẋ = f 0 (x)+∑ i=1 m u i f i (x) with homogeneous functions f 0 , fi is studied. This class of systems is of interest due to the robust properties of homogeneity and the fact that many affine systems can be approximated by or transformed to the class under consideration. An advantage of the introduced design method is that the tuning rules are presented in the form of linear matrix inequalities. Performance of the approach is illustrated by a numerical example.

关键词： Nonlinear control control affine systems robust stabilization homogeneous systems

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Homogeneous Observer Design for Linear MIMO systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 4576-4581页

作者： Konstantin Zimenko Andrey Polyakov Denis Efimov Artem Kremlev Faculty of Control Systems and Robotics ITMO University 49 Kronverkskiy av. 197101 Saint Petersburg Russia. Inria Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France

The paper is devoted to the problem of state observation (particularly, in finite time) of linear MIMO systems. The presented nonlinear observer does not require system transformation to a canonical form and guarantees finite-time (asymptotic with a fixed-time attraction of any compact set containing the origin) stability of observation error equation if homogeneity degree is negative (positive). The proposed observer is robust in input-to-state sense with respect to disturbances and measurement noises. Performance of the observer is illustrated by a numerical example.

关键词： State estimation nonlinear observer homogeneity robustness

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Finite Time Observer for Induction Motors based on DREM algorithm*

Finite Time Observer for Induction Motors based on DREM algo...

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European control Conference (ECC)

作者： Alexey Ovcharov Anton Pyrkin Alexey Bobtsov Dmitry Bazylev Romeo Ortega Alexey Vedyakov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Gif-sur-Yvette France

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

Recently, a new observer for induction motors was presented. It was shown that this observer provides satisfactory estimation of magnetic flux, resistance, speed and constant load torque. Though the benefits, mentioned approach meets usual difficulties in practical implementation since requires stringent assumption imposed on regression functions - to satisfy the condition of persistent excitation (PE). In this paper, we modify this approach using finite time estimation algorithm and, thus, eliminate the necessity in PE. The efficiency of the proposed method is compared with the original observer. Simulation results show significant improvement in transient behavior and higher convergence rate of the new solution.

关键词： Observers Rotors Resistance Convergence Torque Induction motors Mathematical model

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Stator Flux Finite-time Observer for Non-Salient Permanent Magnet Synchronous Motors

Stator Flux Finite-time Observer for Non-Salient Permanent M...

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Mediterranean Conference on control and Automation (MED)

作者： Alexey Bobtsov Anton Pyrkin Stanislav Aranovskiy Nikolay Nikolaev Olga Slita Olga Kozachek Center for Techologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Equipe Automatique CentraleSupeléc - IETR Cesson-Sévigné France Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

In this paper a gradient observer and finite-time observer of stator flux are developed for non-salient permanent magnet synchronous motors. The methods described here are based on implementation of linear time-invariant (LTI) filters and the dynamic regression extension and mixing (DREM) techniques. The motor resistance and inductance are assumed to be known.

关键词： Observers Stator windings Rotors Permanent magnet motors Resistance Inductance

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Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping

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IFAC-PapersOnLine 2020年第2期53卷 9682-9687页

作者： Ana Batinović Juraj Oršulić Tamara Petrović Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) 10000 Zagreb Croatia

This work presents a novel approach to autonomous decentralized multi-robot frontier exploration and mapping of an unknown area. A mobile robot team simultaneously explores the environment, discovers frontier points (points on the border between explored and unexplored space), and shares information in order to become dispersed throughout the environment. During the exploration, information exchanged between the mobile robots is limited to data containing mobile robot positions and current mobile robot target points. The main goal of the approach is to allocate the mobile robots to target frontier points in a way which minimizes the overall exploration time. Moreover, a mobile robot team at the same time creates a common map of the environment. The proposed strategy has been implemented in a simulation environment and compared with a state-of-the-art exploration strategy. Simulation results demonstrate the advantages of the proposed decentralized multi-robot strategy.

关键词： Mobile Robot Multi-Robot System Frontier Points Target Point Decentralized Strategy Exploration Mapping

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Encoderless Rotor Position Estimation of a Switched Reluctance Drive Operated under Model Predictive control

Encoderless Rotor Position Estimation of a Switched Reluctan...

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International Scientific Conference on Power and Electrical Engineering of Riga Technical university (RTUCON)

作者： Alecksey Anuchin Dmitry Shpak Anastasia Kotelnikova Alexey Dmitriev Andrei Bogdanov Galina Demidova Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728195100

ISBN: (纸本)9781728195117

One of the promising technologies of encoderless rotor position and speed estimation for the motors with magnetic anisotropy is the analysis of operation of model predictive control. Idea of the method is to track the difference between the prediction and actual behaviour of the motor currents which should match if the rotor position estimation is correct. However, this method was not applied for switched reluctance drive yet. This paper proposes the rotor position and speed estimator for switched reluctance motor operated under continuous control set model predictive control. It implements phase-locked loop fed by the error between the referenced current and it actual value. The estimator was examined using a simulation model and provides fast and accurate speed and position tracking.

关键词： Rotors control systems Pulse width modulation Estimation Switches Permanent magnet motors Magnetization

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Arctic Respiratory Monitoring System

Arctic Respiratory Monitoring System

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2020 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2020

作者： Lukyanov, G. Rassadina, A. Kossareva, V. Stepanov, A.A. Alexeev, R.Z. Itmo University Saint-Petersburg The Faculty of Control Systems and Robotics Russia Larionov Institute of Physical and Technical Problems of the North Sb Ras Department of Heat and Mass Transfer Yakutsk Russia Laboratory of Immunological Researches Yakut Science Centre of Complex Medical Problems Medical Institute M. K. Ammosov North-Eastern Federal University Yakutsk Russia

ISBN: (纸本)9781728169514

The results of heat transfer dynamic processes during the breathing are presented. The study is relevant for investigation of health in the extreme conditions of the Arctic. For estimation of this processes the measurement system of temperature, pressure and velocity pulsations in nostrils are developed. It has been shown that for respiratory system diagnostic it is necessary to analyze such dynamic characteristics as the power spectral density and entropy. © 2020 IEEE.

关键词： Respiratory system

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On parameter tuning and convergence properties of the DREM procedure

On parameter tuning and convergence properties of the DREM p...

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European control Conference (ECC)

作者： Marina Korotina Stanislav Aranovskiy Rosane Ushirobira Alexey Vedyakov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia IETR – CentaleSupélec Cesson-Sévigné France Inria Univ. Lille Lille France

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

The recently proposed Dynamic Regressor Extension and Mixing (DREM) procedure has been proven to enhance transient performance in online parameter estimation and it has been successfully applied to a variety of adaptive control problems and applications. However, to use this procedure, a linear operator has to be chosen to perform the dynamic extension. A poor choice of the operator can reduce excitation of signals and hence it can compromise convergence properties. This paper presents a systematic selection of operators such that the excitation is always preserved. The paper also studies convergence conditions when the DREM procedure is combined with a least-squares estimator.

关键词： Convergence Tuning Transient analysis Adaptive control Mathematical model Distortion measurement Estimation

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