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Projection-Based controllers with Inherent Dissipativity Properties

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Projection-Based Controllers with Inherent Dissipativity Pro...

IEEE Conference on Decision and control

作者： Hoang Chu S.J.A.M van den Eijnden W.P.M.H. Heemels Dept. Mechanical Engineering Control Systems Technology Section Eindhoven University of Technology The Netherlands

Projection-based controllers (PBCs) are currently gaining traction in both scientific and engineering communities. In PBCs, the input-output signals of the controller are kept in sector-bounded sets by means of projection. In this paper, we will show how this projection operation can be used to induce useful passivity or general dissipativity properties for broad classes of (unprojected) nonlinear controllers that otherwise would not have these properties. The induced dissipativity properties of PBC will be exploited to guarantee asymptotic stability of negative feedback interconnections of passive nonlinear plants and suitably designed PBC, under mild conditions. Generalizations to so-called $(q,s,r)$ -dissipativity will be presented as well. To illustrate the effectiveness of PBC control design via these passivity-based techniques, a numerical example is provided.

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System-level thermal and electrical modeling of battery systems for electric aircraft design

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System-level thermal and electrical modeling of battery syst...

IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Thomas Kuijpers Jorn Van Kampen Theo Hofman Dep. of Mechanical Engineering Control Systems Technology (CST) Section Eindhoven University of Technology (TU/e) Eindhoven The Netherlands

ISBN: (数字)9798331541606

ISBN: (纸本)9798331541613

This work introduces a framework for simulating the electrical power consumption of an 8-seater electric aircraft equipped with high-energy-density NMC Lithium-ion cells. We propose an equivalent circuit model (ECM) to capture the thermal and electrical battery behavior. Furthermore, we assess the need for a battery thermal management system (BTMS) by determining heat generation at the cell level and optimize BTMS design to minimize energy consumption over a predefined flight regime. The proposed baseline battery design includes a 304-kWh battery system with BTMS, ensuring failure redundancy through two parallel switched battery banks. Simulation results explore the theoretical flight range without BTMS and reveal advantages in increasing battery capacity under specific conditions. Optimization efforts focus on BTMS design, highlighting the superior performance of water cooling over air cooling. However, the addition of a 9.9 kW water-cooled BTMS results in a 16.5% weight increase (387 kg) compared to no BTMS, reducing the simulated range of the aircraft from 480 km to 410 km. Lastly, we address a heating-induced thermal runaway scenario, demonstrating the robustness of the proposed battery design in preventing thermal runaway.

关键词： Energy consumption Power demand Atmospheric modeling Water heating Thermal management Batteries Thermal analysis Aircraft Vehicle dynamics System analysis and design

Robust Commutation Design: Applied to Switched Reluctance Motors

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arXiv 2024年

作者： van Meer, Max Witvoet, Gert Oomen, Tom The Control Systems Technology section Department of Mechanical Engineering Eindhoven University of Technology Netherlands The Department of Optomechatronics TNO Delft Netherlands The Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Switched Reluctance Motors (SRMs) are cost-effective electric actuators that utilize magnetic reluctance to generate torque, with torque ripple arising from unaccounted manufacturing defects in the rotor tooth geometry. This paper aims to design a versatile, resource-efficient commutation function for accurate control of a range of SRMs, mitigating torque ripple despite manufacturing variations across SRMs and individual rotor teeth. The developed commutation function optimally distributes current between coils by leveraging the variance in the torque-current-angle model and is designed with few parameters for easy integration on affordable hardware. Monte Carlo simulations and experimental results show a tracking error reduction of up to 31% and 11%, respectively. The developed approach is beneficial for applications using a single driver for multiple systems and those constrained by memory or modeling effort, providing an economical solution for improved tracking performance and reduced acoustic noise. © 2024, CC BY-NC-ND.

关键词： Cost effectiveness

Automated Model-Free Commutation for Coarse Pointing Actuators in Free-Space Optical Communication

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Automated Model-Free Commutation for Coarse Pointing Actuato...

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Max van Meer Kjell van Schie Gert Witvoet Tom Oomen Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology The Netherlands Department of Optomechatronics TNO Delft The Netherlands Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Switched Reluctance Motors (SRMs) are widely used for their simplicity and cost-effectiveness, for example, in coarse laser pointing for free-space optical (FSO) communication, with torque ripple being a challenge in their implementation. This paper introduces an automated, modelfree approach to minimize torque ripple in SRMs despite manufacturing variations. Using an extremum-seeking approach, the commutation parameters are adapted online to mitigate the position-dependent velocity ripple through gradient descent. Simulations show that the method’s effectiveness is consistent across different SRMs, rendering it applicable to mass production, and experimental results verify that torque ripple is almost entirely eliminated in several hours. The developed approach enables accurate SRM control with minimal expert knowledge, functioning as a crucial step toward their deployment in constellation projects for FSO communication.

关键词： Mass production Adaptation models Accuracy Free-space optical communication Commutation Switched reluctance motors Manufacturing

Robust Commutation Design: Applied to Switched Reluctance Motors

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Robust Commutation Design: Applied to Switched Reluctance Mo...

European control Conference (ECC)

作者： Max Van Meer Gert Witvoet Tom Oomen Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology The Netherlands Department of Optomechatronics TNO Delft The Netherlands Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

关键词： Geometry Torque Monte Carlo methods Commutation Rotors Magnetoacoustic effects Switched reluctance motors

Measurement-Based control for Minimizing Energy Functions in Quantum systems

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IFAC-PapersOnLine 2023年第2期56卷 5171-5178页

作者： Henrik Glavind Clausen Salahuddin Abdul Rahman Özkan Karabacak Rafal Wisniewski Section for Automation and Control Department of Electronic Systems Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

In variational quantum algorithms (VQAs), the most common objective is to find the minimum energy eigenstate of a given energy Hamiltonian. In this paper, we consider the general problem of finding a sufficient control Hamiltonian structure that, under a given feedback control law, ensures convergence to the minimum energy eigenstate of a given energy function. By including quantum non-demolition (QND) measurements in the loop, convergence to a pure state can be ensured from an arbitrary mixed initial state. Based on existing results on strict control Lyapunov functions, we formulate a semidefinite optimization problem, whose solution defines a non-unique control Hamiltonian, which is sufficient to ensure almost sure convergence to the minimum energy eigenstate under the given feedback law and the action of QND measurements. A numerical example is provided to showcase the proposed methodology.

关键词： Lyapunov control quantum non-demolition measurements semidefinite programming variational quantum algorithms

A Frequency-Domain Approach for Enhanced Performance and Task Flexibility in Finite-Time ILC

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arXiv 2024年

作者： van Haren, Max Tsurumoto, Kentaro Mae, Masahiro Blanken, Lennart Ohnishi, Wataru Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Electrical Engineering and Information Systems The University of Tokyo Tokyo Japan Sioux Technologies Eindhoven Netherlands Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Iterative learning control (ILC) is capable of improving the tracking performance of repetitive control systems by utilizing data from past iterations. The aim of this paper is to achieve both task flexibility, which is often achieved by ILC with basis functions, and the performance of frequency-domain ILC, with an intuitive design procedure. The cost function of norm-optimal ILC is determined that recovers frequency-domain ILC, and consequently, the feedforward signal is parameterized in terms of basis functions and frequency-domain ILC. The resulting method has the performance and design procedure of frequency-domain ILC and the task flexibility of basis functions ILC, and are complimentary to each other. Validation on a benchmark example confirms the capabilities of the framework. © 2024, CC BY-NC-ND.

关键词： Cost functions

Kernel-based identification using Lebesgue-sampled data

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arXiv 2023年

作者： González, Rodrigo A. Tiels, Koen Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Sampling in control applications is increasingly done non-equidistantly in time. This includes applications in motion control, networked control, resource-aware control, and event-based control. Some of these applications, like the ones where displacement is tracked using incremental encoders, are driven by signals that are only measured when their values cross fixed thresholds in the amplitude domain. This paper introduces a non-parametric estimator of the impulse response and transfer function of continuous-time systems based on such amplitude-equidistant sampling strategy, known as Lebesgue sampling. To this end, kernel methods are developed to formulate an algorithm that adequately takes into account the bounded output uncertainty between the event timestamps, which ultimately leads to more accurate models and more efficient output sampling compared to the equidistantly-sampled kernel-based approach. The efficacy of our proposed method is demonstrated through a mass-spring damper example with encoder measurements and extensive Monte Carlo simulation studies on system benchmarks. © 2023, CC BY-NC-ND.

关键词： Impulse response

Continuous Approximations of Projected Dynamical systems via control Barrier Functions

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arXiv 2024年

作者： Delimpaltadakis, Giannis Cortés, Jorge Heemels, W.P.M.H. Control Systems Technology section Mechanical Engineering Eindhoven University of Technology Netherlands Department of Mechanical and Aerospace Engineering University of California San Diego United States

Projected Dynamical systems (PDSs) form a class of discontinuous constrained dynamical systems, and have been used widely to solve optimization problems and variational inequalities. Recently, they have also gained significant attention for control purposes, such as high-performance integrators, saturated control and feedback optimization. In this work, we establish that locally Lipschitz continuous dynamics, involving control Barrier Functions (CBFs), namely CBF-based dynamics, approximate PDSs. Specifically, we prove that trajectories of CBF-based dynamics uniformly converge to trajectories of PDSs, as a CBF-parameter approaches infinity. Towards this, we also prove that CBF-based dynamics are perturbations of PDSs, with quantitative bounds on the perturbation. Our results pave the way to implement discontinuous PDS-based controllers in a continuous fashion, employing CBFs. We demonstrate this on numerical examples on feedback optimization and synchronverter control. Moreover, our results can be employed to numerically simulate PDSs, overcoming disadvantages of existing discretization schemes, such as computing projections to possibly non-convex sets. Finally, this bridge between CBFs and PDSs may yield other potential benefits, including novel insights on stability. Copyright © 2024, The Authors. All rights reserved.

关键词： Dynamical systems