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International Conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Radda A Iureva Artem S Kremlev Anastasia L Drannik Martin Cech dept. of Control Systems and Robotics ITMO University Saint Petersburg Russia NTIS – European Center of Escellence University of West Bohemi Pilsen Czechia

The paper is a survey to threats modelling in Critical Informational Infrastructure. The main trend analysis, which includes vulnerabilities in processors used in Internet of Things, agile/scrum development, artificial intelligence, is made. As undervaluation of this aspects causes successful penetration of malicious in industrial networks, the relevant threat model is of current concern in the process of building cybersecure system.

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An Adaptive Flux and Position Observer for Interior Permanent Magnet Synchronous Motors ⁎

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IFAC-PapersOnLine 2019年第29期52卷 43-48页

作者： Madina Sinetova Anton Pyrkin Alexey Bobtsov Romeo Ortega Alexey Vedyakov ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratoire des Signaux et Systmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

The design of an adaptive active flux observer is an open problem, which attracts a lot of scientists from adaptive control and electric drive societies. The design of new observer for the interior permanent magnet synchronous motor is based on the ”linear regression plus gradient search” approach. It is proved that the flux observer provides asymptotic convergence of estimation errors to zero. In comparison with known solutions proposed approach gives improved results with guaranteed performance (monotonicity, convergence rate regulation) and allows to regulate the convergence rate via the selection of the adaptation gains. The main feature of the proposed observer, compared to existing ones, is that it is well defined in all operating modes, improving its robustness properties.

关键词： Nonlinear control systems robust observers synchro motors flux estimator speed estimator sensorless approach

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Sensorless control of the Levitated Ball ⁎

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IFAC-PapersOnLine 2019年第29期52卷 274-279页

作者： Alexey Bobtsov Anton Pyrkin Romeo Ortega Alexey Vedyakov Madina Sinetova Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

One of the most widely studied dynamical systems in nonlinear control theory is the levitated ball. Several full-state feedback controllers that ensure asymptotic regulation of the ball position have been reported in the literature. However, to the best of our knowledge, the design of a stabilizing law measuring only the current and the voltage—so-called sensorless control—is conspicuous by its absence. Besides its unquestionable theoretical interest, the trade off between cost and reliability of position sensors for magnetic levitated systems, makes the problem of great practical application. Our main contribution is to provide the first solution to this problem without linearisation and signal injection. Instrumental for the development of the theory is the use of parameter estimation-based observers, which combined with the dynamic regressor extension and mixing parameter estimation technique, allow the reconstruction of the magnetic flux. With the knowledge of the latter it is shown that the mechanical coordinates can be estimated with suitably tailored nonlinear observers. Replacing the observed states, in a certainty equivalent manner, with a full information asymptotically stabilising law completes the sensorless controller design. Simulation results are used to illustrate the performance of the proposed scheme.

关键词： Nonlinear control sensorless control nonlinear observers MagLev system

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Applying the Results of Hydrodynamic and Heat Transfer Processes Research in 3D Nasal Cavity Models for Revealing Predisposing Towards Respiratory Diseases at Extreme Conditions of the Arctic

Applying the Results of Hydrodynamic and Heat Transfer Proce...

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International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

作者： G. Lukyanov A. Rassadina R. Neronov A.A. Stepanov R.Z. Alexeev The Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia “Modern Medical Technologies” Clinic Saint-Petersburg Russia Larionov Institute of Physical and Technical Problems of the North SB RAS Yakutsk Russian Federation Laboratory of Immunological researches Yakut Science Centre of Complex Medical Problems Medical Institute M. K. Ammosov North-Eastern Federal University Yakutsk Russia

It has been found that the shape of nasal cavity influences to the hydrodynamics and heat transfer in the respiratory system which at the extreme environmental conditions of the Arctic can be a reason of predispositio... 详细信息

ISBN: (数字)9781728169514

ISBN: (纸本)9781728169521

关键词： Nose Atmospheric modeling Shape Numerical models Solid modeling Indexes Arctic

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State observation of LTV systems with delayed measurements: A parameter estimation-based approach

arXiv

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arXiv 2020年

作者： Bobtsov, Alexey Nikolaev, Nikolay Ortega, Romeo Efimov, Denis Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico Inria Univ. Lille CNRS UMR 9189 - CRIStAL LilleF-59000 France

In this paper we address the problem of state observation of linear time-varying systems with delayed measurements, which has attracted the attention of many researchers—see [7] and references therein. We show that, adopting the parameter estimation-based approach proposed in [3,4], we can provide a very simple solution to the problem with reduced prior knowledge. Copyright © 2020, The Authors. All rights reserved.

关键词： Parameter estimation

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A globally stable practically implementable pi passivity-based controller for switched power converters

arXiv

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arXiv 2020年

作者： Bobtsov, Alexey Ortega, Romeo Nikolaev, Nikolay He, Wei Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Peters-burg197101 Russia Université Paris-Saclay CNRS CentraleSupélec Laboratoire des Signaux et Systèmes Gif-surYvette91190 France School of Automation Nanjing University of Information Science & Technology Nanjing China

In this paper we propose a PI passivity-based controller, applicable to a large class of switched power converters, that ensures global state regulation to a desired equilibrium point. A solution to this problem was reported in [12] but it requires full state-feedback, which makes it practically unfeasible. To overcome this limitation we construct a state observer that is implementable with measurements that are available in practical applications. The observer reconstructs the state in finite-time, ensuring global convergence of the PI. The excitation requirement for the observer is very weak and is satisfied in normal operation of the converters. Simulation results illustrate the excellent performance of the proposed PI. Copyright © 2020, The Authors. All rights reserved.

关键词： State feedback

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Model Predictive control with Reduced Integration Step Size of a Switched Reluctance Drive

Model Predictive Control with Reduced Integration Step Size ...

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International Conference on Power Drives systems (ICPDS)

作者： Alecksey Anuchin Valentina Podzorova Mario Hirz Christoph Datlinger Lassi Aarniovuori Viktoriya Popova Galina Demidova Chen Hao Moscow Power Engineering Institute Moscow Russia Institute of Automotive Engineering Graz University of Technology Graz Austria Electrical Drives Laboratory LUT University Lappeenranta Finland Ogarev Mordova State University Saransk Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia School of Electrical and Power Engineering China University of Mining & Technology Xuzhou China

ISBN: (数字)9781728165387

ISBN: (纸本)9781728165394

The problem of torque pulsation and its stabilization by means of control is typical for switched reluctance drives. This drives usually controlled using hysteresis current regulators, which produce audible noise and torque ripple. The method of model predictive control with reduced integration step size was introduced in order to implement precise torque stabilization using pulse width modulation. Active thermal control was developed as well to increase the continuous output power of the drive. The developed control strategy was simulated and shows accurate torque regulation even when only few integration steps inside single PWM cycle are used for duty cycle evaluation. Active thermal control reduced the temperature of the hottest power module by 7.4%, which allows to increase the continuous output power of the drive.

关键词： Torque Multichip modules Switches Pulse width modulation control systems Power generation Predictive control

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Developing Presentation Skills in the ESP Course for Students Majoring in control systems and robotics

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IFAC-PapersOnLine 2019年第9期52卷 218-223页

作者： Elena A. Borisova Aleksandra M. Nikitina Aleksandra L. Shparberg Oleg I. Borisov Natalia M. Poletaeva ITMO University Foreign Language Training Center 49 Kronverksky Pr. St. Petersburg 197101 Russia ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia Pushkin Leningrad State University Department of Additional Professional Education 10 Peterburgskoe Sh. Pushkin St. Petersburg 196605 Russia

This paper addresses the experience of implementing a presentation skills module in an English for Specific Purposes (ESP) course at itmo university for students from the faculty of control systems and robotics. This work reveals the importance and relevance of presentation competency for the future professional careers of graduates. The paper thoroughly addresses the presentation mistakes inherent in the domain of control systems and robotics. The interdisciplinary approach to developing presentation skills discussed in the article is based on the fusion of English-language study, soft skills and professional content. The developed presentation skills module includes peer-based evaluation of presentations in order to teach students to provide feedback and take into account comments received from their colleagues.

关键词： Presentation Skills Presentation Competency ESP control systems robotics Education

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DREM-based Adaptive Observer for Induction Motors

DREM-based Adaptive Observer for Induction Motors

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IEEE Annual Conference on Decision and control

作者： Anton Pyrkin Alexey Bobtsov Alexey Vedyakov Romeo Ortega Anastasiia Vediakova Madina Sinetova Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratoire des Signaux et Systèmes CNRSSUPELEC Gif-sur-Yvette France Department of Computer Applications and Systems St. Petersburg State University St. Petersburg Russia

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

In this paper we address the problems of observer design for induction motors (IM). The rotor resistance and load torque are supposed to be unknown. The only measured signals are stator current and control voltage. The approach is based on a new way of applying Dynamic Regressor Extension and Mixing method (DREM) to regression models with non-stationary parameters. Firstly, using partial changes of coordinates and filtering technique, IM model is represented in regression-like form. Applying DREM yields relations, which are used to construct flux observer and rotor resistance estimator. On the next step proposed method is applied again to obtain speed and load torque estimates. The proposed speed observer design can be also applied to the permanent magnet synchronous motors.

关键词： Observers Rotors Resistance Mathematical model Induction motors Torque Load modeling

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Compliant net for AUV retrieval using a UAV

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IFAC-PapersOnLine 2018年第29期51卷 431-437页

作者： Ivanovic, Antun Polic, Marsela Salah, Omar Orsag, Matko Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10 000 Croatia Mechanical Engineering Department Faculty of Engineering Assiut University Assiut Egypt

This paper addresses the problem of retrieving an autonomous underwater vehicle (AUV) with an unmanned aerial vehicle (UAV). The design of the compliant net that naturally adapts to the payload morphology is proposed as a retrieval tool. We constructed the proposed compliant net and conducted experiments with an underwater vehicle model as payload. Furthermore, mathematical model of a system comprised of the UAV and the payload is presented and a mid-ranging controller is utilized for such a system. We also present simulation results and analyze the stability of the UAV with the cable attached payload. © 2018

关键词： Autonomous underwater vehicles Antennas Unmanned aerial vehicles (UAV) Autonomous underwater vehicles (AUV) Marine systems Mechanical design Retrieval tool Soft robotics Underwater vehicles

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