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International Conference on Power Electronic Drives and Energy systems for Industrial Growth

作者： C. Sreekumar Vivek Agarwal Inter disciplinary programme in Systems and Control Engg IIT Bombay Mumbai India Vivek Agarwal is with the Department of Electrical Engineering IIT Bombay Mumbai India

The pseudo continuous current mode (PCCM) operation of a boost converter can be treated as an intermediate between the continuous current mode (CCM) and discontinuous current mode (DCM) operation. The advantages in DCM operation and CCM operation can be effectively compromised to get this intermediate operation. In addition, the control flexibility and stability in DCM operation of a boost converter can be attributed to the PCCM operation as far as the control design is concerned. In this paper, three types of mode switched control designs based on the hybrid automaton model, namely, system theoretical design, circuit theoretical design and energy based design for a PCCM boost converter are analyzed and compared. Analysis, control design and simulation results are presented.

关键词： Switching converters Switches Inductors control design Power system modeling Automata control systems Circuit stability Automatic control Voltage control

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Spatial control of A Large PHWR by Multirate Output Feedback based Sliding Mode control

Spatial Control of A Large PHWR by Multirate Output Feedback...

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IEEE International Conference on Industrial Technology (ICIT)

作者： G. Datatreya Reddy B. Bandyopadhyay A. P. Tiwari IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Reactor Control Division Bhabha Atomic Research Centre Mumbai India

The paper presents a novel method to design a spatial control for a large PHWR based on multirate output feedback robust sliding mode control. The proposed method does not require state information of the system, for feedback purposes. The proposed control technique is easy to obtain and to implement. Simulation has been carried out using the nodal core model of PHWR to show the effectiveness of the proposed method.

关键词： Sliding mode control Output feedback control systems Neutrons Robust control Inductors Xenon Power distribution Automatic control Radioactive decay

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Tracking a Trajectory for a Gantry Crane: Comparison Between IDA-PBC and Direct Lyapunov Approach

Tracking a Trajectory for a Gantry Crane: Comparison Between...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Rakesh Singhal Rupesh Patayane Ravi N. Banavar Japan Society for the Promotion of Science Japan Project Engineer rups1980@iitb.ac.in Department of Systems and Control Engineering IIT Bombay India

This paper presents trajectory tracking for an overhead gantry crane. The system has two degrees-of-freedom and is underactuated. We present two nonlinear control techniques and the objective of the paper is to compare the two techniques for this particular trajectory control problem from various points of view -in particular the control magnitudes and robustness. One of the techniques is the Interconnection and damping assignment-passivity based control (IDA-PBC) notion and the other is a direct Lyapunov approach.

关键词： Trajectory Cranes control systems Payloads Nonlinear control systems Mechanical systems PD control Damping Proportional control Robust control

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Sensorless control of induction motor using fast output sampling technique

Sensorless control of induction motor using fast output samp...

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2005 IEEE International Conference on control Applications, CCA

作者： Abera, Alemayehu Gebre-Egziabher Bandyopadhyay, B. Agarwal, Vivek Janardhanan, S. IDP in Systems and Control Engg IIT Bombay Mumbai-400076 India Department of Electrical Engineering IIT Bombay Mumbai-400 076 India

ISBN: (纸本)0780393538

The paper presents the design of a new technique for induction motor control without using speed sensor. Here the discrete time control technique is used to design the controller for induction motor drive. The non-linear model of an induction motor is revisited here and linearized about an operating point to obtain a linear model for the same. A fast output sampling based controller is obtained by considering the stator current as output only. The non-linear model of the induction motor is simulated with the proposed controller. This method does not require the states of the system for feedback and is easily implementable. © 2005 IEEE.

关键词： Discrete time control systems

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LQG controller designs from reduced order models for a launch vehicle

LQG controller designs from reduced order models for a launc...

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作者： Dhabale, Ashwin Banavar, Ravi N. Dhekane, M.V. Systems and Control Engineering IIT Bombay India ISRO Thiruvananthapuram India

ISBN: (纸本)008045108X

The suppression of liquid fuel slosh motion is critical in a launch vehicle (LV). in particular, during certain stages of the launch, the dynamics of the fuel interacts adversely with the rigid body dynamics of the LV and the feedback controller must attentuate these effects. This paper describes the effort of a multivariable control approach applied to the Geosynchronous Satellite Launch Vehicle (GSLV) of the Indian Space Research Organization (ISRO) during a certain stage of its launch. The fuel slosh dynamics are modelled using a pendulum model *** describe two design methodologies using the linear-quadratic Gaussian (LQG) technique. The novelty of the technique is that we apply the LQG design for models that are reduced in order through inspection alone. This is possible from a perspective that the LV could be viewed as many small systems attached to a main body and the interactions of some of these smaller systems could be neglected at the controller design stage provided sufficient robustness is ensured by the controller. The first LQG design is carried out without the actuator dynamics incorporated at the design stage and for the second design we neglect the slosh dynamics as well. Copyright © 2005 IFAC.

关键词： Design

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Multirate output feedback sliding mode controller for sensorless induction motor

Multirate output feedback sliding mode controller for sensor...

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IEEE International Conference on Industrial Technology (ICIT)

作者： A.G.-E. Abera V. Agarwal B. Bandyopadhyay S. Janardhanan IDP in Systems and Control Engineering IIT Bombay Mumbai India

In this paper the design of sensorless induction motor speed controller without observer using concept of multirate output feedback discrete time sliding mode control technique is proposed. The nonlinear model of the motor model is linearised at its operating point and the fast output sampling discrete time sliding mode control using output samples is applied to non-linear plant of the motor at its operating (equilibrium) point. This method does not require the complete states of the system for feedback and is easily implementable.

关键词： Output feedback Sensorless control Sliding mode control Induction motors control systems Magnetic field measurement DC motors Machine vector control Tellurium Magnetic sensors

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Sensorless control of induction motor using fast output sampling technique

Sensorless control of induction motor using fast output samp...

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IEEE Conference on control Technology and Applications (CCTA)

作者： S. Janardhanan V. Agarwal B. Bandyopadhyay E. Abera A. Gebre Department of Electrical Engineering IIT Bombay Mumbai INDIA IDP in Systems and Control Engg. IIT Bombay Mumbai INDIA IDP in Syst. & Control Engg. IIT Bombay Mumbai

关键词： Sensorless control Induction motors Sampling methods Output feedback control systems Magnetic field measurement Machine vector control Magnetic sensors Sensor systems Induction motor drives

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LQG controlLER DESIGNS FROM REDUCED ORDER MODELS FOR A LAUNCH VEHICLE

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IFAC Proceedings Volumes 2005年第1期38卷 193-198页

作者： Ashwin Dhabale Ravi N. Banavar M.V. Dhekane was Graduate student Professor Systems and Control Engineering IIT Bombay Senior Scientist ISRO – Thiruvananthapuram INDIA

The suppression of liquid fuel slosh motion is critical in a launch vehicle (LV). In particular, during certain stages of the launch, the dynamics of the fuel interacts adversely with the rigid body dynamics of the LV and the feedback controller must attentuate these effects. This paper describes the effort of a multivariable control approach applied to the Geosynchronous Satellite Launch Vehicle (GSLV) of the Indian Space Research Organization (ISRO) during a certain stage of its launch. The fuel slosh dynamics are modelled using a pendulum model analogy. We describe two design methodologies using the linear-quadratic Gaussian (LQG) technique. The novelty of the technique is that we apply the LQG design for models that are reduced in order through inspection alone. This is possible from a perspective that the LV could be viewed as many small systems attached to a main body and the interactions of some of these smaller systems could be neglected at the controller design stage provided sufficient robustness is ensured by the controller. The first LQG design is carried out without the actuator dynamics incorporated at the design stage and for the second design we neglect the slosh dynamics as well.

关键词： Launch vehicle fuel slosh LQG

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A Non-Dexterous Dual Arm Robot's Feasible Orientations Along Desired Trajectories: Analysis & Synthesis

A Non-Dexterous Dual Arm Robot's Feasible Orientations Along...

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IEEE Conference on Decision and control

作者： A. Banerji R.N. Banavar D. Venkatesh Division of Remote Handling & Robotics (DRHR) Bhabha Atomic Research Centre Mumbai India IIT Bombay Mumbai India Systems and Control Engineering Indian Institute of Technology Mumbai India Electronics & Control Section DRHR Bhabha Atomic Research Centre Mumbai India

A dual-arm robotic manipulator needs to maintain its end-effectors' orientations with reference to each other as defined by the task constraints at various locations. To give one example, the task of operating a pair of pliers by rigidly grasping its handles will require that the orientation of the two end-effectors with respect to each other should vary as a function of their respective locations. Due to the wrist joint range limitations, dexterity is very limited and it may not be possible to achieve a desired maneuver along a desired trajectory. We present here a systematic approach to judge the feasibility of such demands and a method to find other reasonable target trajectories or orientations. The approach here is based on simple geometry with little computation load.

关键词： Wrist Manipulators Remote handling Robot kinematics Trajectory Computational geometry Arm control engineering Electric variables control control systems

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Output feedback control of practical launch vehicle systems

Output feedback control of practical launch vehicle systems

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2004 IEEE International Conference on control Applications

作者： Oberoi, Sunil Janardhanan, S. Bandyopadhyay, B. IDP in Systems and Control Engg IIT Bombay Mumbai India

The present work attempts to utilize the fast output sampling control law for a completely new application: the autopilot controller design for practical launch vehicle systems. Linearized models representing different launch stages (with inclusion of vehicle flexibility, fuel sloshing effects, nozzle dynamics and actuator dynamics) have been used. The design problem is transformed into an equivalent Linear Matrix Inequality (LMI) form to realize a state feedback approximately by fast output sampling, in a way that closeness to the original design can be traded against reducing the deteriorating effects. Output stabilization is achieved with satisfactory results. © 2004 IEEE.

关键词： Feedback control

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