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Improved multiobjective particle swarm optimization for designing PID controllers applied to robotic manipulator

Improved multiobjective particle swarm optimization for desi...

引用

IEEE Symposium on Computational Intelligence in Control and Automation, CICA

作者： Juliano Pierezan Helon H. V. Ayala Luciano F. da Cruz Roberto Z. Freire Leandro dos S. Coelho Federal University of Parana— UFPR Electrical Engineering Graduate Program — PPGEE Curitiba Brazil Pontifical Catholic University of Parana — PUCPR Industrial and Systems Engineering Graduate Program — PPGEPS Curitiba Brazil Department of Electrical Engineering — DEE/PPGEE Industrial and Systems Engineering Graduate Program — PPGEPS and Federal University of Parana — UFPR Curitiba Brazil

In order to improve equipment efficiency in terms of performance, energy consumption and degradation for example, the industry has increased the use of control systems as the PID (proportional-integral-derivative) to a new baseline. This structure has few parameters to adjust and it is easy to implement practically. However, there are some requirements often included on multivariable systems that cannot be solved concurrently by classical methods. To solve this problem, the current paper approaches the application of Multiobjective Differential Evolution (MODE), Multiobjective Harmony Search (MOHS) and Multiobjective Particle Swarm Optimization (MOPSO) on multivariable PID controllers tuning. Moreover, an improved version of MOPSO (I-MOPSO) is proposed and its performance is compared with the other algorithms. In order to validate it under control systems, the optimization technique is applied on a two degree of freedom robotic manipulator. Finally, a detailed analysis is made on the I-MOPSO achievements.

关键词： Optimization Manipulator dynamics Mathematical model Particle swarm optimization Vectors

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AC-AC DRIVE SYSTEMS WITH OPEN-END FIVE-PHASE MACHINE AND SIXTEEN-LEG DC-LINK CONVERTER

AC-AC DRIVE SYSTEMS WITH OPEN-END FIVE-PHASE MACHINE AND SIX...

引用

Brazilian Power Electronics Conference

作者： Cursino B. Jacobina Isaac S. de Freitas Lilian G. de Azevedo Mauricio B. R. Correa Post-Graduate Program in Electrical Engineering - PPgEE - COPELE Electrical Engineering Department - DEE - Federal University of Campina Grande - UFCG Alternative and Renewable Energy Center - CEAR Electrical Engineering Department - DEE - Federal University of Paraiba - UFPB

ISBN: (纸本)9781479902712

This paper presents two ac machine drive systems based on three-phase to five-phase ac-ac converters and open-windings five-phase machine. The drive systems are suitable to applications in which high power, performance and reliability are required using low power and voltage switches and low dc-link capacitor voltages. The configuration I employs an input transformer with two secondary taps at the grid side, two three-phase three-leg converters and one ten-leg converter (totalling sixteen legs). The configuration II employs a low-power series transformer at the grid side, two three-phase three-leg converters, and one ten-leg converter. Both configurations permit to reduce the power and voltage ratings of power switches and also the dc-link capacitor size. The paper presents the comprehensive models of the proposed systems, modulation strategies and a general comparison with conventional configuration. Simulated and experimental results are presented.

关键词： Ac-Ac Converter Five-phase Machine Motor Drive Open-end windings Power Converter

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Influence of end-effect on direct and quadrature inductances in linear electromagnetic actuators

Influence of end-effect on direct and quadrature inductances...

引用

2017 IEEE International Magnetics Conference, INTERMAG 2017

作者： Boff, B.B. Zanatta, A.P. Flores Filho, A.F. Dorrell, D.G. Eckert, P.R. Post-Graduate Program in Electrical Engineering Federal University of Rio Grande Do sul Porto Alegre Brazil University of KwaZulu-Natal Howard College Campus Durban South Africa

Direct and quadrature inductances, Ld and Lq, respectively, are an essential property of motors and actuators that must be known in order to develop precise control systems for high performance applications. © 20... 详细信息

ISBN: (纸本)9781538610862

关键词： Inductance

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Universal Active Power Filter Based on Three Three-Leg Converters and a Single DC-link

Universal Active Power Filter Based on Three Three-Leg Conve...

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IEEE Energy Conversion Congress and Exposition, ECCE

作者： Phelipe L. S. Rodrigues Cursino B. Jacobina Andre E. L. Costa Ítalo A. Cavalcanti de Oliveira Post-Graduate Program in Electrical Engineering - PPgEE - COPELE Federal University of Campina Grande (UFCG) Paraíba Brazil Department of Electrical Engineering Federal University of Campina Grande (UFCG) Paraíba Brazil

This paper presents a universal active power filter (UAPF) for harmonic and sag/swell voltage compensation based on the nine-leg converter and a single dc-link. The proposed UAPF combines three three-phase converters operating as series-shunt-series filters. An SV-PWM technique was used to improve the voltage levels generated by the converters by obtaining multilevel voltages. The connection made in the topology proposed in this paper allows an improvement in the harmonic distortions as well as the semiconductors losses. The complete control system is developed, simulation and experimental results are shown for validation purposes.

关键词： Topology Harmonic analysis Impedance Harmonic distortion Load modeling Active filters Power system harmonics

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Cascaded Multilevel Rectifiers with Reduced Number of Controlled Switches for Open-End Winding PMSM

Cascaded Multilevel Rectifiers with Reduced Number of Contro...

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IEEE Energy Conversion Congress and Exposition

作者： Amanda P. Monteiro Cursino B. Jacobina Filipe A. C. Bahia Reuben P. R. Sousa Post-Graduate Program in Electrical Engineering - PPgEE/COPELE Campina Grande Paraíba Brazil Department of Electrical Engineering (DEE) Federal University of Campina Grande (UFCG) Campina Grande Paraíba Brazil

This paper proposes three configurations of unidirectional open-end winding (OEW) cascaded multilevel rectifiers with reduced number of controlled switches. They are based on Vienna rectifiers and are composed of a series combination of two three-phase converters and three H-bridges employing floating capacitors (per phase). These configurations make the ac-dc conversion power, supplied by a permanent magnet synchronous machine (PMSM), which is connected to the rectifier by an OEW configuration. Compared to the conventional, proposed systems synthesize the same or higher number of voltage levels using fewer number of controlled switches and is still possible to obtain lower converter current harmonic distortion. Furthermore, they can operate with lower switch blocking voltage ratio. These features make them attractive options to the industry due to their low costs, low control complexity and size, besides they are more reliable and less prone to failure. Therefore, proposed configurations have a better cost-benefit than conventional one. The system model, PWM technique, capacitor voltage balancing and control strategy are given. Simulation and experimental results are provided in order to validate their feasibility.

关键词： Capacitors Voltage control Switches Reliability Topology Bridge circuits

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Universal active power filters based on nine-leg converter

Universal active power filters based on nine-leg converter

引用

IEEE Energy Conversion Congress and Exposition

作者： P. L. S. Rodrigues C. B. Jacobina G. A. d. A. Carlos Post-Graduate Program in Electrical Engineering - PPgEE - Copele Department of Electrical Engineering Federal University of Campina Grande (UFCG) Paraiba Brazil Universidade Federal de Campina Grande Campina Grande PB BR

This paper proposed two universal active power filter (UAPF) topologies for reactive power and harmonic compensation. The proposed system is a combination of series and shunt active power filters. They are suitable to improve the harmonic distortion in the grid currents and a voltage compensation. The filters are composed of three three-phase converters resulting in nine legs. The first (configuration I) can operate with floating dc-link capacitor or an auxiliary DC source on the series filter and the second one (configuration II) uses a combination of two series filters and one shunt filter sharing a single dc-link. The complete control system, including the PWM techniques, is developed and a comparison between the configurations is done. Simulation and experimental results are shown for validation purposes.

关键词： Pulse width modulation Voltage control Capacitors Harmonic analysis Power harmonic filters Control systems

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Adaptive BCI Based on Software Agents

Adaptive BCI Based on Software Agents

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Javier Castillo-Garcia Anibal Cotrina Alessandro Benevides Denis Delisle-Rodriguez Berthil Longo Eduardo Caicedo Andre Ferreira Teodiano Bastos School of Electrical and Electronic Engineering of Univesity of the Valle Post-Graduate Program of Electrical Engineering Federal University of Espirito Santo Post-Graduate Program of Biotechnology Federal University of Espirito Santo

ISBN: (纸本)9781424479276

The selection of features is generally the most difficult field to model in BCIs. Therefore, time and effort are invested in individual feature selection prior to data set training. Another great difficulty regarding the model of the BCI topology is the brain signal variability between users. How should this topology be in order to implement a system that can be used by large number of users with an optimal set of features? The proposal presented in this paper allows for obtaining feature reduction and classifier selection based on software agents. The software agents contain Genetic Algorithms (GA) and a cost function. GA used entropy and mutual information to choose the number of features. For the classifier selection a cost function was defined. Success rate and Cohen's Kappa coefficient are used as parameters to evaluate the classifiers performance. The obtained results allow finding a topology represented as a neural model for an adaptive BCI, where the number of the channels, features and the classifier are interrelated. The minimal subset of features and the optimal classifier were obtained with the adaptive BCI. Only three EEG channels were needed to obtain a success rate of 93% for the BCI competition III data set IVa.

关键词： Software agents Brain modeling Electroencephalography Topology Cost function Feature extraction Support vector machines

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Comparison of operating curves of five-phase and three-phase induction machines of same size

Comparison of operating curves of five-phase and three-phase...

引用

Annual Conference of Industrial Electronics Society

作者： Ricardo S. da Rosa Luís A. Pereira Luís F. A. Pereira Sérgio Haffner Electrical Engineering Graduate Program (PPGEE) Federal University of Rio Grande do Sul (UFRGS) Porto Alegre Brazil Electrical Engineering Graduate Program (PPGEE) Federai University of Rio Grande do Sul (UFRGS) CEP 90035-190 Porto Alegre Brazil

The steady state operating curves of three design variants of a five-phase induction machine are assessed and compared to a standard three-phase induction machine of the same size which is taken as the basis for the comparison. The performance in terms of torque, power factor, stator current and efficiency are analyzed for different load conditions. The operating curves are determined by means of an electrical model that includes the effects of the third-harmonic component of the airgap induction, iron saturation and magnetic losses as well. The electrical parameters used in this model are obtained analytically. Based on the data of the machines considered, it is shown that five phase machines can have a slightly better performance than an equivalent three-phase machine, even when they have less conductor volume in the stator and rotor windings. The results also show that five-phase machines considered can present a higher peak torque and thus a better overload capacity.

关键词： Torque Stator windings Harmonic analysis Rotors Reactive power Windings

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Characterization of contacts degradation in circuit breakers through the dynamic contact resistance

Characterization of contacts degradation in circuit breakers...

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2014 IEEE PES Transmission and Distribution Conference and Exposition - Latin America, PES T and D-LA 2014

作者： De Souza, R.T. Da Costa, E.G. De Oliveira, A.C. De Sousa, W.V. De Morais, T.C.M. Post-Graduate Program in Electrical Engineering COPELE Campina Grande Federal University Brazil Industry Academic Unit Paraíba Federal Institute Brazil Department of Electrical Engineering Campina Grande Federal University Brazil Energisa Paraíba Brazil

ISBN: (纸本)9781479962501

Static resistance measurement of circuit breakers has been a crucial technique to assess the state of contacts, supporting maintenance procedures. However, in many cases, the obtained results do not provide accurate data for correct diagnosis, since the test examines only the main contact. This article discusses the application of the contact dynamic resistance measurement (DRM) in the evaluation of main and arcing contacts. The DRM is a contact resistance test, and the resistance is determined during the opening of contacts, analyzing the main and arcing contacts. The research objective is to get the DRM parameters that can assist in the contacts diagnosis. The obtained results indicate that DRM has presented more qualitative parameters than the static resistance test in the evaluation of contacts. The resistance tests were performed applying a direct current with 300 A of amplitude. © 2014 IEEE.

关键词： Electric circuit breakers

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Swim velocity profile identification through a Dynamic Self-adaptive Multiobjective Harmonic Search and RBF neural networks 22

Swim velocity profile identification through a Dynamic Self-...

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22nd European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2014

作者： Ayala, Helon V.H. Da Cruz, Luciano F. Coelho, Leandro S. Freire, Roberto Z. Pontifical Catholic University of Parana - PUCPR Industrial and Systems Engineering Graduate Program - PPGEPS Imaculada Conceição Curitiba Parana1155 Brazil Federal University of Parana - UFPR Department of Electrical Engineering - DEE/PPGEE Polytechnic School of UFPR Curitiba Parana Brazil

ISBN: (纸本)9782874190957

Technology has been successfully applied in sports, where biomechanical analysis is one of the most important areas used to raise the performance of athletes. In this context, this paper focuses on swim velocity profile identification using Radial Basis Functions Neural Networks (RBF-NN) trained by the Gustafson-Kessel clustering combined with a novel Dynamic Self-adaptive Multiobjective Harmony Search (DS-MOHS). One study case is analyzed, from real data acquired of an elite female athlete, swimming breaststroke style. Better results are obtained by DS-MOHS when compared with standard multiobjective harmony search in terms of accuracy and generalization of the model.

关键词： Radial basis function networks

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