Rotor “Nonsynchronous” Control Of Induction Motors. Part I: Determination Of A Mathematical Model

Hybrid model of an inventer-induction motor system

A model of the three-phase bridge inverter with a wide range of validity is proposed. This model can be used for the simulation of the inverter induction motor system on a hybrid computer or an analogue computer. In the latter case it is necessary to achieve a logical device which realizes the inverter model. After a block diagram for the simulation of the inverter induction motor system is illustrated as well as the circuital diagram of the device which simulates the inverter. Finally the authors describe the tests carried out in order to verify the validity of the inverter model and the correct operating of the device which simulates the inverter.

Neural Petri Control: an application on a mobile robot

In the present work, an innovative nonlinear controller of nonholonomic mechanical systems, characterized by a dynamic not well known model a priori, using a new neural model obtained by the combination of a Petri net with a neural network, is proposed. The performances of the control algorithm are evaluated for tasks of tracking of time trajectories. The study of the stability of the total system to closed loop is based on the Lyapunov theory. Simulation experiments, made taking into consideration a nonholonomic mobile robot, to two wheels, allowed to verify the theoretical results.

MICROPROCESSOR-BASED SUBOPTIMAL CONTROL OF CONVERTER-FED HYPO-HYPERSYNCHRONOUS CASCADE DRIVES

This work consists ofi a theoretic and experimental study o£ a possible practical realization oi a micro pro cess or-based control system using a converter-fad hypo-hypersynchronous cascade. drive. Vlrstly, the design o£ a microprocessor-based controller Is carried out considering an approximate mathematical model, linear-type, o& the drive -In question, by using optimal control techniques. Several physical constraints, -buck as -input variables constraints, state variables constraints and processing time. o& microprocessor are taken -into account. The approach followed attorn us to obtain a suboptimal, closed-loop control system. In addition, In order to carry out a more accurate study ofa…

A CONTROL LAW FOR ROBOTIC MANIPULATORS BASED ON A FILTERED SIGNAL TO GENERATE PD ACTION AND VELOCITY ESTIMATES

This paper deals with an adaptive control law for robotic manipulators based on a filtered signal to generate both the PD action and velocity estimates of the joints, suitable for trajectory tracking tasks, with the particular aim of reducing the harmonic content of the mechanical torques developed at the joints and thus avoiding excitation of unmodelled dynamics and instability. The practical aspects relative to the implementation of the control law are considered as relevant and, consequently, are detailed. In particular, several methods suitable to compute velocity estimates are discussed and compared with the method described in the paper. All of the above methods are illustrated by mea…

Control Strategy for Induction Motor Drives Based on Decoupling Techniques

Abstract In this work a new closed loop, synchronous microprocessor-based controller is proposed for field oriented controlled induction motor drives, using a PWM voltage source inverter. This controller is based on a non linear state feedback compensator which gives decoupling of both rotor current and rotor flux, and direct and inquadrature components of the stator current vector. The compensator has a linearizing effect on the synchronous model of the electromagnetic circuit of the motor. It follows that the control laws can be obtained using optimal control techniques for linear systems. The controller in question gives directly the conduction sequences of the inverter supplying the ind…

LPV Model Identification For The Stall And Surge Control of a Jet Engine

Abstract The problem of identifying discrete-time Linear Parameter Varying (LPV) models of non-linear or time-varying systems for gain scheduling control is considered assuming that inputs, outputs and the scheduling parameters are measured, and a form of the functional dependence of the coefficients on the parameters is known. The identification procedure is applied to the controlled model of compressors for jet engines. The model is controlled in order to avoid rotating stall and surge. Aim of the present paper is to identify the LPV model based on the nonlinear model of compressors in order to design a robust gain scheduling predictive controller.

Synergic algorithms for the planning and the intelligent following of a trajectory for non-holonomic vehicles

Although there are many studies about two wheels non-holonomic vehicles, in order to simplify the problem the planning and the following of trajectories or paths are generally considered two different phases. In this paper, two algorithms for the synergic working of trajectory planning with intelligent trajectory following are presented. The "trajectory shape" characteristics obtained in the planning phase are used for the efficient trajectory following. From the shape, in order to follow the trajectory, an intelligent controller calculates, without further elaboration, the reference wheels velocity of the vehicle. The knowledge of trajectory shape characteristics and curvature constraints …

Microprocessor-Based Suboptimal Control of Converter-Fed Hypo-Hypersynchronous Cascade Drives

Abstract This work consists of a theoretic and experimental study of a possible practical realization of a microprocessor-based control system using a converter-fed hypo-hypersynchronous cascade drive. Firstly, the design of a microprocessor-based controller is carried out considering an approximate mathematical model, linear-type, of the drive in question, by using optimal control techniques. Several ρhysical constraints, such as input variables con straints, state variables constraints and processing time of microprocessor are taken into account. The approach followed allows us to obtain a suboptimal closed-looρ control system. In addition, in order to carry out a more accurate study of t…