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A Reliable and Accurate Calculation of Excitation Capacitance Value for an Induction Generator Based on Interval Computation Technique

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International Journal of Automation and computing 2011年第4期8卷 429-436页

作者： Rajesh Kumar Thakur Vivek Agarwal Paluri S. V. Nataraj Systems and Control Engineering Interdisciplinary Programme (IDP)Mumbai 400076 India Department of Electrical Engineering IIT-Bombay Powai Mumbai 400076 India

A squirrel cage induction generator （SCIG） offers many advantages for wind energy conversion systems but suffers from poor voltage regulation under varying operating conditions. The value of excitation capacitance （C exct ） is very crucial for the selfexcitation and voltage build-up as well as voltage regulation in SCIG. Precise calculation of the value of C exct is, therefore, of considerable practical importance. Most of the existing calculation methods make use of the steady-state model of the SCIG in conjunction with some numerical iterative method to determine the minimum value of C exct . But this results in over estimation, leading to poor transient dynamics. This paper presents a novel method, which can precisely calculate the value of C exct by taking into account the behavior of the magnetizing inductance during saturation. Interval analysis has been used to solve the equations. In the proposed method, a range of magnetizing inductance values in the saturation region are included in the calculation of C exct , required for the self-excitation of a 3-φ induction generator. Mathematical analysis to derive the basic equation and application of interval method is presented. The method also yields the magnetizing inductance value in the saturation region which corresponds to an optimum C exct（min） value. The proposed method is experimentally tested for a 1.1 kW induction generator and has shown improved results.

关键词： d-q model hull consistency induction generator interval analysis interval arithmetic optimization range of interval realpaver self-excitation transients.

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Automatic design of QFT prefilter using interval analysis

Automatic design of QFT prefilter using interval analysis

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2004 IEEE International Symposium on Computer Aided control System Design

作者： Nataraj, P.S.V. Tharewal, Sachin Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay 400076 India

An algorithm is proposed for automation of the prefilter design step of Horowitz's quantitative feedback theory (QFT) to robust feedback system synthesis. The proposed algorithm uses interval global optimization techniques to give an 'optimal' (to a user specified accuracy) minimum phase prefilter. The proposed algorithm is demonstrated on a QFT benchmark example. © 2004 IEEE.

关键词： Computer systems

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Lyapunov function based steering law for Generalized Voronoi Diagram (GVD) construction by a mobile robot

Lyapunov function based steering law for Generalized Voronoi...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Arunkumar, G.K. Sukumar, Srikant Vachhani, Leena Interdisciplinary Programme in Systems and Control Engineering IIT Bombay Mumbai-400 076 India

ISBN: (纸本)9783902823601

Motion planning of an autonomous robot in an unknown environment is a challenging task. The prerequisite of any motion planning task is collision avoidance. This paper aims on designing a steering control-law for constructing Generalized Voronoi Diagram (GVD) of an unknown environment. The GVD is a roadmap which offers a maximum clearance path and hence a reliable method to avoid collisions. The GVD comprises of edges and nodes. The GVD node is considered a primary feature of topological localization. This paper proposes a modification in the steering control law for smooth tracing of GVD edge using curvature information at closest points on the obstacle. The proposed modification leads the mobile robot to reach the unknown GVD node. This modification is necessary without which the robot leaves a GVD edge and traces another GVD edge bypassing the GVD node. The modification is suggested based on the geometry of the GVD construction. The proposed steering law is verified using simulations. The simulation result shows that the mobile robot reaches the GVD node with an accuracy of ±0.001 unit distance. © 2014 IFAC.

关键词： Mobile robots

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Variable gain super twisting controller for the position stabilization of Stewart platform

Variable gain super twisting controller for the position sta...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Ramesh Kumar, P. Bandyopadhyay, Bijnan Interdisciplinary Programme in Systems and Control Engineering IIT Bombay Mumbai-400 076 India

ISBN: (纸本)9783902823601

The Stewart platform manipulator is a 6 degrees of freedom parallel robot with a superior performance over serial robots. A variable gain super twisting algorithm ensuring global finite time convergence to the desired sliding surface is proposed for the position stabilization of the Stewart platform. For a given position of the platform, the leg lengths are estimated using inverse kinematics and corresponding leg velocities are obtained using a super twisting observer. The desired position of the platform is achieved using the proposed controller even in the presence of matched disturbances. The effectiveness of the proposed controller has been proved with the simulation results. © 2014 IFAC.

关键词： controllers

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Discrete sliding mode control using fast output sampling feedback

Discrete sliding mode control using fast output sampling fee...

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2003 European control Conference, ECC 2003

作者： Saaj, C.M. Bandyopadhyay, B. Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Mumbai400076 India

ISBN: (纸本)9783952417379

In this paper a new algorithm for discrete-time sliding mode control using only output samples is proposed. It is shown that the output feedback gain can be directly obtained using the reaching law of discrete-time sliding mode control. The main contribution of this work is that instead of using the system states, the output samples are used for designing the controller. © 2003 EUCA.

关键词： Sliding mode control

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Discrete sliding mode control of permanent magnet stepper motor using flatness property

Discrete sliding mode control of permanent magnet stepper mo...

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2003 European control Conference, ECC 2003

作者： Thakar, V. Bandyopadhyay, B. Interdisciplinary Programme in Systems and Control Engineering IIT Bombay Mumbai400 076 India

ISBN: (纸本)9783952417379

The paper presents discrete time sliding mode control (DSMC) for permanent magnet (PM) stepper motor which is known to be differentially flat system. Discretization of continuous time model of the stepper motor has been carried out and linearizing outputs are selected. Discrete state variables and control inputs are obtained in terms of linearizing outputs and their higher order differences. Linearized equations for the system are thus obtained and auxilary control is designed using reaching law approach. Then the actual control is obtained in terms of flat output and state variables. It is shown that system states reach to zero from given initial conditions. © 2003 EUCA.

关键词： Continuous time systems

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Arbitrary higher order sliding mode control based on control Lyapunov approach

Arbitrary higher order sliding mode control based on control...

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2012 12th International Workshop on Variable Structure systems, VSS 2012

作者： Kamal, S. Bandyopadhyay, B. Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India

ISBN: (纸本)9781457720666

This paper proposes an arbitrary higher order sliding mode controller for uncertain minimum phase nonlinear systems. The stability proof of the suggested scheme is analyzed in terms of two Lyapunov functions. Using these two Lyapunov functions it is proved that, output and its higher order derivatives converge to origin in finite time. Simulation results prove the efficiency of the proposed method. © 2012 IEEE.

关键词： Lyapunov functions

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Single image based depth estimation for robotic applications

Single image based depth estimation for robotic applications

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2011 IEEE Recent Advances in Intelligent Computational systems, RAICS 2011

作者： Sabnis, Anupa Vachhani, Leena Interdisciplinary Programme in Systems and Control Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9781424494774

Goal of the robot vision is to exploit power of visual sensing to observe and perceive the environment and react it. Visual feedback is used to manipulate the robot among objects by estimating their depths. This paper presents a depth estimation technique based on the defocus blur associated with a camera setting. A sharp image of an object is obtained from a defocused image of the same object by applying sharpening filter. The defocused and sharp images of the object are used to calculate the spread parameter which is related to the object depth. The method calculates the constant camera parameters. The main advantage of this method is use of a single image by the robot to estimate depth. The method is independent of illumination condition and can be applied to the images with different edge orientations. Experiments on real scene images have demonstrated the feasibility of the proposed method for depth estimation. The results indicate that the depth estimation average errors are within two percent of true values. The proposed method is compared with the existing methods. © 2011 IEEE.

关键词： Robot vision

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A guidance law for a mobile robot for coverage applications: A limited information approach

A guidance law for a mobile robot for coverage applications:...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Tripathy, Twinkle Sinha, Arpita Interdisciplinary Programme in Systems and Control Engineering IIT Bombay Mumbai-400 076 India

ISBN: (纸本)9783902823601

In this paper a guidance law has been proposed to solve applications related to coverage of a pre-defined area using a mobile robot. In many situations, it may not be possible to measure all the information due to practical limitations or from computational point of view. So, we have used only range information to solve the above specified problem. The target point is considered to be stationary in this particular case. Now, for any initial condition for which the velocity vector of the robot is perpendicular to the line of sight with respect to the stationary target, the autonomous agent displays interesting behaviours which have been analysed theoretically. All the analytical results obtained here have been validated through MATLAB simulations also. © 2014 IFAC.

关键词： Mobile robots

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Discrete time sliding mode control with minimal quasi sliding mode band

Discrete time sliding mode control with minimal quasi slidin...

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2012 12th International Workshop on Variable Structure systems, VSS 2012

作者： Chakrabarty, S. Bandyopadhyay, B. Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India

ISBN: (纸本)9781457720666

A new approach is presented to analyze sliding mode control in discrete-time systems using an established reaching law, whereby the ultimate band is obtained to be lesser than any previous analysis done with the same reaching law. Also, the controller parameters are evaluated according to the ultimate band that is desired. The approach begins with defining several bands in the space of the surface variable, which are key to understanding the dynamics of it. Conditions on these band values are key to assigning appropriate values to the controller parameters. The switching gain obtained in this way comes out to be negative contradicting popular notion of non-negative switching gains used in sliding mode control. A case is also studied where the states measured contribute a quantization error in the system dynamics. The idea developed in analyzing the case without quantization is used while dealing with it. © 2012 IEEE.

关键词： State feedback

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