Localization from inertial data and sporadic position measurements

2020

International audience; A novel estimation strategy for inertial navigation in indoor/outdoor environments is proposed with a specific attention to the sporadic nature of the non-periodic measurements. After introducing the inertial navigation model, we introduce an observer providing an asymptotic estimate of the plant state. We use a hybrid dynamical systems representation for our results, in order to provide an effective, and elegant theoretical framework. The estimation error dynamics with the proposed observer shows a peculiar cascaded interconnection of three subsystems (allowing for intuitive gain tuning), with perturbations occurring either on the jump or on the flow dynamics (depen…

Stability analysis for stochastic hybrid systems: A survey

2014

This survey addresses stability analysis for stochastic hybrid systems (SHS), which are dynamical systems that combine continuous change and instantaneous change and that also include random effects. We re-emphasize the common features found in most of the models that have appeared in the literature, which include stochastic switched systems, Markov jump systems, impulsive stochastic systems, switching diffusions, stochastic impulsive systems driven by renewal processes, diffusions driven by Lévy processes, piecewise-deterministic Markov processes, general stochastic hybrid systems, and stochastic hybrid inclusions. Then we review many of the stability concepts that have been studied, inclu…

Parameter identification of linear induction motor model in extended range of operation by means of input-output data

2012

This paper proposes a technique for the off-line estimation of the electrical parameters of the equivalent circuit of linear induction machines (LIM), taking into consideration the end effects, and focuses on the application of an algorithm based on the minimization of a suitable cost function involving the differences of measured and computed by simulation inductor current components. This method exploits an entire start-up transient of the LIM to estimate all the 4 electrical parameters of the machine (Rs, L s, σ Ls, Tr). It proposes also a set of tests to be made to estimate the variation of the magnetic parameters of the LIM versus the magnetizing current as well as the magnetizing curv…

Evaluation of Roundabout Safety Performance through Surrogate Safety Measures from Microsimulation

2018

The paper presents a microsimulation-based approach for roundabout safety performance evaluation. Based on a sample of Slovenian roundabouts, the vehicle trajectories exported from AIMSUN and VISSIM were used to estimate traffic conflicts using the Surrogate Safety Assessment Model (SSAM). AIMSUN and VISSIM were calibrated for single-lane, double-lane and turbo roundabouts using the corresponding empirical capacity function which included critical and follow-up headways estimated through meta-analysis. Based on calibration of the microsimulation models, a crash prediction model from simulated peak hour conflicts for a sample of Slovenian roundabouts was developed. A generalized linear model…

Neural based MRAS sensorless techniques for high performance linear induction motor drives.

2010

This paper proposes a neural based MRAS (Model reference Adaptive System) speed observer suited for linear induction motors (LIM). Starting from the dynamical equation of the LIM in the synchronous reference frame in literature, the so-called voltage and current models of the LIM in the stationary reference frame, taking into consideration the end effects, have been deduced. Then, while the inductor equations have been used as reference model of the MRAS observer, the induced part equations have been discretized and rearranged so to be represented by a linear neural network (ADALINE). On this basis, the so called TLS EXIN neuron has been used to compute on-line, in recursive form, the machi…

Control of Power Converters with Hybrid Affine Models and Pulse-Width Modulated Inputs

2021

In this paper, hybrid dynamical systems theory is applied to the analysis and control of switched converters with Pulse-Width Modulated (PWM) inputs. The system is described by a state-space model with continuous flows and discrete jumps, without averaged equations. The modulation effects are captured in full without using time-dependent signals, by enlarging the state vector to include the PWM waveform generation process. Furthermore, the sample-and-hold mechanism associated with the sampling frequency is also taken into account with this approach. A control law is proposed based on a Lyapunov function candidate. Furthermore, convergence sets and the steady state jitter, inherent to PWM-ba…

Hybrid Observer for Indoor Localization with Random Time-of-Arrival Measurments

2018

In this work an indoor position estimation algorithm will be proposed. The position will be measured by means of a sensor network composed by fixed beacons placed on the indoor environment and a mobile beacon mounted on the object to be tracked. The mobile beacon communicates with all the fixed beacons by means of ultra wide-band signals, and the distance between them is computed by means of time of flight techniques. Moreover, inertial measurements will be used when the position measurements are not available. Two main problems will be considered in the proposed architecture: the fact that the beacons work with a lower update rate than the IMU, and that the mobile beacon can comunicate wit…

Extended complex Kalman filter for sensorless control of an induction motor

2014

Abstract This paper deals with the design of an extended complex Kalman filter (ECKF) for estimating the state of an induction motor (IM) model, and for sensorless control of systems employing this type of motor as an actuator. A complex-valued model is adopted that simultaneously allows a simpler observability analysis of the system and a more effective state estimation. The observability analysis of this model is first performed by assuming that a third order ECKF has to be designed, by neglecting the mechanical equation of the IM model, which is a valid hypothesis when the motor is operated at constant rotor speed. It is shown that this analysis is more effective and easier than the one …

Traffic simulation models calibration using speed–density relationship: An automated procedure based on genetic algorithm

2016

Calibration of traffic models.Calibration as optimization problem.Use of genetic algorithm. This paper presents the first results of a research which applied a genetic algorithm to calibrate a microscopic traffic simulation model based on speed-density relationships. A large set of traffic data collected from the A22 Freeway, Italy, was used and a comparison was performed between the field measurements and the simulation outputs obtained for a test freeway segment by using the Aimsun microscopic simulator.The calibration was formulated as an optimization problem to be solved based on a genetic algorithm; the objective function was defined in order to minimize the differences between the sim…

State Observer with Round-Robin Aperiodic Sampled Measurements with Jitter

2021

International audience; A sampled-data observer is proposed for linear continuous-time systems whose outputs are sequentially sampled via non-uniform sampling intervals repeating a prescribed Round-Robin sequence. With constant sampling intervals (jitter-free case) we provide constructive necessary and sufficient conditions for the design of an asymptotic continuous-discrete observer whose estimation error is input-to-state stable (ISS) from process disturbances and measurement noise. We use a time-varying gain depending on the elapsed time since the last measurement. With non-constant sampling intervals (jitter-tolerant case), our design conditions are only sufficient. A suspension system …

State Space-Vector Model of Linear Induction Motors Including Iron Losses: Part II: Model Identification and Results

2018

This is the second part of a paper, divided into two parts, dealing with the definition of a space-vector dynamic model of the linear Induction motor (LIM) taking into consideration both the dynamic end-effects and the iron losses as well as the off-line identification of its parameters. The first part has treated the theoretical framework of the model. This second part is devoted to the description of an identification technique which has been suitably developed for the estimation of the parameters of the LIM dynamic model accounting for both the dynamic end-effects and iron losses, described in the first part of the paper. Such an identification technique is strictly related to the state …

Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation

2021

In this article, a systematic procedure is given for determining a robust motion control law for autonomous quadcopters, starting from an input–output linearizable model. In particular, the suggested technique can be considered as a robust feedback linearization (FL), where the nonlinear state-feedback terms, which contain the aerodynamic forces and moments and other unknown disturbances, are estimated online by means of extended state observers. Therefore, the control system is made robust against unmodelled dynamics and endogenous as well as exogenous disturbances. The desired closed-loop dynamics is obtained by means of pole assignment. To have a feasible control action, that is, the fo…

A hybrid observer for localization from noisy inertial data and sporadic position measurements

2023

We propose an asymptotic position and speed observer for inertial navigation in the case where the position measurements are sporadic and affected by noise. We cast the problem in a hybrid dynamics framework where the continuous motion is affected by unknown continuous-time disturbances and the sporadic position measurements are affected by discrete-time noise. We show that the peculiar hybrid cascaded structure describing the estimation error dynamics is globally finite-gain exponentially ISS with gains depending intuitively on our tuning parameters. Experimental results, as well as the comparison with an Extended Kalman Filter (EKF), confirm the effectiveness of the proposed solution with…

An adaptive multi-rate system for visual tracking in augmented reality applications

2016

The visual tracking of an object is a well-known problem, and it involves many fields of applications. Often a single sensor, the camera, could not provide enough information in order to track the whole object trajectory due to a low updating rate; therefore a multi-sensor system, based also on inertial measurements, could be necessary to improve the tracking accuracy. This leads to the fundamental question: how can information from different sensors be combined when they work at different rates? In this paper an approach based on recursive parameter estimation focusing on multi-rate situations is suggested. The problem is here formulated as the state-of-the-art problem of the visual tracki…

Assistive robotic walker parameter identification for estimation of human thrust without force sensors

2017

In this paper we propose a parameter identification procedure for the wheel-motor dynamic of a robotic walker, i.e. a commercial trolley for elderly people endowed with cognitive, sensing and guidance capabilities. The objective of the wheel-motor dynamic model is to generate a suitable time reference to be used in an estimation algorithm. The ultimate goal of the estimation algorithm is to retrieve the thrust, i.e. torque and force, that the older adult user of the robotic walker applies to the platform. These quantities are of paramount importance in order to adopt intelligent and comfortable walker guidance algorithms. The novelty of this approach is the avoidance of additional costly se…

Robust control for high performance induction motor drives based on partial state-feedback linearization

2019

This paper deals with a robust input-output feedback linearization control technique for induction motors. Indeed, classic feedback linearization presents two main disadvantages: 1) the accuracy of the dynamic model; and 2) the corresponding correct knowledge of the model parameters. To address this issue, the linear controller has been substituted with a suitably controller designed to be robust to the variations of the main parameters of the induction motor, like stator and rotor resistances, and the three-phase magnetizing inductance. The proposed controller has been tested both in numerical simulation and experimentally on a suitably designed test setup. Moreover, it has been compared w…

Calibrating a microscopic traffic simulation model for roundabouts using genetic algorithms

2018

The paper introduces a methodological approach based on genetic algorithms to calibrate microscopic traffic simulation models. The specific objective is to test an automated procedure utilizing genetic algorithms for assigning the most appropriate values to driver and vehicle parameters in AIMSUN. The genetic algorithm tool in MATLAB® and AIMSUN micro-simulation software were used. A subroutine in Python implemented the automatic interaction of AIMSUN with MATLAB®. Focus was made on two roundabouts selected as case studies. Empirical capacity functions based on summary random-effects estimates of critical headway and follow up headway derived from meta-analysis were used as reference for ca…

A Saturation Model of the Synchronous Reluctance Motor and its Identification by Genetic Algorithms

2018

This paper proposes a complete saturation model of the Synchronous Reluctance Motor (Syn1231), accounting for both the self-saturation and cross-saturation effects. This model is based on an analytical relationship between the stator flux and current components, and is characterized by parameters presenting an interesting physical interpretation, differently from many other saturation model in the scientific literature. It proposes also an identification technique of such a model based on stand-still tests, without the need of locking the rotor. The proposed saturation model permits the complete description of the magnetic behaviour of the machine with 8 parameters, fewer than those require…

GA-based Off-Line Parameter Estimation of the Induction Motor Model Including Magnetic Saturation and Iron Losses

2020

This paper, starting from recent papers in the scientific literature dealing with Rotating Induction Motor (RIM) dynamic modelling, as a first step, improves its space-vector dynamic model, including both the magnetic saturation and iron losses; The main original aspects of the proposed model are the following: 1) the magnetic saturation of the iron core has been described on the basis of both current versus flux and flux versus current functions, 3) it includes the iron losses, separating them in hysteresis and eddy current ones, 4) it includes the effect of the load on the magnetic saturation. Afterwards, it proposes an off-line technique for the estimation of electrical parameters of thi…

A time-varying observer for linear systems with asynchronous discrete-time measurements

2017

International audience; In this paper we propose a time-varying observer for a linear continuous-time plant with asynchronous discrete-time measurements. The proposed observer is contextualized in the hybrid systems framework providing an elegant setting for the proposed solution. In particular some theoretical tools are provided, in terms of LMIs, certifying asymptotic stability of a certain compact set where the estimation error is zero. Moreover the case of asynchronous measurements is considered, i.e. when the measurements are not provided in well defined time instants, but they occur at an arbitrary time in a certain time interval. A design procedure based on the numerical solution of …

Space-vector State Dynamic Model of the Synchronous Reluctance Motor Considering Self, Cross-Saturation and Iron Losses

2021

This paper proposes a space-vector dynamic model of the Synchronous Reluctance Motor (SynRM) including both self-saturation, cross-saturation effects, and iron losses expressed in state form, where the magnetizing current has been selected as a state variable. The proposed dynamic model is based on an original function between the stator flux and the magnetizing current components, improving a previously developed magnetic model. Additionally, the proposed model includes, besides the magnetic saturation, also iron losses. The proposed model requires 11 coefficients, among which 6 describe the self-saturation on both axes and 5 describe the cross-saturation. Starting from the definition of a…

Descriptor-type Kalman Filter and TLS EXIN Speed Estimate for Sensorless Control of a Linear Induction Motor.

2014

This paper proposes a speed observer for linear induction motors (LIMs), which is composed of two parts: 1) a linear Kalman filter (KF) for the online estimation of the inductor currents and induced part flux linkage components; and 2) a speed estimator based on the total least squares (TLS) EXIN neuron. The TLS estimator receives as inputs the state variables, estimated by the KF, and provides as output the LIM linear speed, which is fed back to the KF and the control system. The KF is based on the classic space-vector model of the rotating induction machine. The end effects of the LIMs have been considered an uncertainty treated by the KF. The TLS EXIN neuron has been used to compute, in …

A Nonlinear Control of Synchronous Reluctance Motors (SynRM) Based on Feedback Linearization Considering the Self and Cross-Saturation Effects

2019

This paper proposes a nonlinear controller based on feedback linearization for Synchronous Reluctance Motors (SynRM) drives that takes into consideration the self and cross-saturation effects. Such control technique permits the dynamics of both the speed and flux loops to be maintained constant independently from the load and the saturation of the iron core. The proposed technique has been tested experimentally on a suitably developed test set-up.

Convergence Analysis of Extended Kalman Filter for Sensorless Control of Induction Motor

2015

This paper deals with convergence analysis of the extended Kalman filters (EKFs) for sensorless motion control systems with induction motor (IM). An EKF is tuned according to a six-order discrete-time model of the IM, affected by system and measurement noises, obtained by applying a first-order Euler discretization to a six-order continuous-time model. Some properties of the discrete-time model have been explored. Among these properties, the observability property is relevant, which leads to conditions that can be directly linked with the working conditions of the machine. Starting from these properties, the convergence of the stochastic state estimation process, in mean square sense, has b…

Space‐vector state dynamic model of SynRM considering self‐ and cross‐saturation and related parameter identification

2020

This study proposes a state formulation of the space-vector dynamic model of the Synchronous Reluctance Motor (SynRM) considering both saturation and cross-saturation effects. The proposed model adopts the stator currents as state variables and has been theoretically developed in both the rotor and stator reference frames. The proposed magnetic model is based on a flux versus current approach and relies on the knowledge of 11 parameters. Starting from the definition of a suitable co-energy variation function, new flux versus current functions have been initially developed, based on the hyperbolic functions and, consequently, the static and dynamic inductance versus current functions have be…

Nonlinear Robust Control of a Quadratic Boost Converter in a Wide Operation Range, Based on Extended Linearization Method

2022

This paper proposes a control system for a quadratic boost DC/DC converter in a wide range of operations, based on an inner loop with a sliding mode controller, for reaching a desired equilibrium state, and an outer loop with integral-type controller, for assuring robustness against load and input voltage variations and converter parameter uncertainties. The sliding mode controller is designed with the extended linearization method and assures local asymptotic stability, whereas the integral controller is designed using classical frequency methods, and assures input–output stability. It is shown that the proposed controller also deals with the sudden changes in the nominal operating conditi…

Parameter identification of induction motor model by means of State Space-Vector Model Output Error Minimization

2014

This paper proposes a technique for the off-line estimation of the electrical parameters of the equivalent circuit of an Induction Machines (IM), and focuses on the application of an algorithm based on the minimization of a suitable cost function involving the differences between the measured stator current direct (sD) and quadrature (sQ) components and the corresponding estimated by the IM state model. This method exploits an entire start-up transient of the IM to estimate all of the 4 electrical parameters of the machine (Rs, Ls, σLs, Tr). It proposes also a set of tests to be made in order to estimate the variation of the magnetic parameters of the IM versus the rotor magnetizing current…

Modeling and Experimental Validation of a Voltage-Controlled Split-Pi Converter Interfacing a High-Voltage ESS with a DC Microgrid

2023

The Split-pi converter can suitably interface an energy storage system (ESS) with a DC microgrid when galvanic isolation is not needed. Usually, the ESS voltage is lower than the grid-side voltage. However, limitations in terms of the ESS current make the use of a high-voltage ESS unavoidable when high power levels are required. In such cases, the ESS voltage can be higher than the microgrid voltage, especially with low microgrid voltages such as 48 V. Despite its bidirectionality and symmetry, the Split-pi exhibits a completely different dynamic behavior if its input and output ports are exchanged. Thus, the present work aims to model the Split-pi converter operating with an ESS voltage hi…

A nonlinear observer for rotor flux estimation considering magnetic saturation effects in induction motor drives

2015

This paper proposes a non-linear observer for In- duction Machine (IM) drives which takes into consideration the saturation effects. The non-linear observer is based on an original formulation of the dynamic model of the IM taking into consideration the magnetic saturation of the iron core. A Lyapunov based convergence analysis is proposed in order to suitably compute the observer gain guaranteeing the stability of the observer. The proposed non-linear observer has been tested in numerical simulation and experimentally on a suitably developed test set-up. Its behaviour has been compared to that obtained with a classic Full-Order Luenberger Observer (FOLO) in variable flux working conditions…

Feedback linearization control of wind turbine equipped with doubly fed induction generator

2017

This paper focuses on several control techniques of a wind turbine of rated power of about 1 MW. In particular, a wind generator equipped with an asynchronous doubly-fed induction machine has been considered and its dynamic model in MATLAB/SIMULINK environment has been implemented. Starting from this model the feedback linearization control has been derived, and several simulations have been carried out, with the aim of compare its dynamic performances with the classical field oriented control, and with the V/f control. The results allow us to conclude that a DFIG controlled by a feedback linearization technique ensures better dynamic performance.

Tuning of Extended Kalman Filters for Sensorless Motion Control with Induction Motor

2019

This work deals with the tuning of an Extended Kalman Filter for sensorless control of induction motors for electrical traction in automotive. Assuming that the parameters of the induction motor-load model are known, Genetic Algorithms are used for obtaining the system noise covariance matrix, considering the measurement noise covariance matrix equal to the identity matrix. It is shown that only stator currents have to be acquired for reaching this objective, which is easy to accomplish using Hall-effect transducers. In fact, the Genetic Algorithm minimizes, with respect to the system covariance matrix, a suitable measure of the displacement between the stator currents experimentally acquir…

Design and Validation of a FPGA-Based HIL Simulator for Minimum Losses Control of a PMSM

2021

This work examines the FPGA programmable logic platforms applied to minimum losses control of a Permanent Magnet Synchronous Motor (PMSM), which represents a flexible solution for the implementation of an advanced digital control algorithm, given their intrinsic parallel structure and the capability to be directly reprogrammable in the field. In particular, design and validation of a FPGA-based Hardware-In-the-Loop (HIL) simulator is proposed, by investigating about data format, quantization and discretization effects and other issues arising during the experimental validation of a controller prototype, in order to reduce the embedded software development cycle and test control systems. The…

State Space-Vector Model of Linear Induction Motors Including End-effects and Iron Losses - Part II: Model Identification and Results

2020

This is the second part of an article, divided into two parts, dealing with the definition of a space-vector dynamic model of the linear induction motor (LIM) taking into consideration both the dynamic end-effects and the iron losses as well as the offline identification of its parameters. This second part is devoted to the description of an identification technique that has been suitably developed for the estimation of the electrical parameters of the LIM dynamic model accounting for both the dynamic end-effects and iron losses. Such an identification technique is strictly related to the state formulation of the proposed model and exploits genetic algorithms for minimizing a suitable cost …

Hybrid Propulsion Efficiency Increment through Exhaust Energy Recovery—Part 1: Radial Turbine Modelling and Design

2023

The efficiency of Hybrid Electric Vehicles (HEVs) may be substantially increased if the energy of the exhaust gases, which do not complete the expansion inside the cylinder of the internal combustion engine, is efficiently recovered by means of a properly designed turbogenerator and employed for vehicle propulsion; previous studies, carried out by the same authors of this work, showed a potential hybrid vehicle fuel efficiency increment up to 15% by employing a 20 kW turbine on a 100 HP rated power thermal unit. The innovative thermal unit here proposed is composed of a supercharged engine endowed with a properly designed turbogenerator, which comprises two fundamental elements: an exhaust …

Adaptive feedback linearizing control of linear induction motor considering the end-effects

2016

This paper proposes an input-output feedback linearization techniques for linear induction motors, taking into consideration the dynamic end-effects. As a main original content, this work proposes a new control law based on the on-line estimation of the induced-part time constant. The estimation law is obtained thanks to a Lyapunov based analysis and thus the stability of the entire control system, including the estimation algorithm, is intrinsically guaranteed. Moreover, with such an approach even the on-lihe variation of the induced-part time constant with the speed is retrieved, thus improving the behavior of previously developed approaches where such a variation vs. speed is considered …

Input-Output Feedback Linearizing Control of Linear Induction Motor Taking into Consideration the End-Effects. Part II: Simulation and Experimental R…

2015

This is the second part of a paper, divided in two parts, dealing with the application of the input–output feedback linearization (FL) control technique to linear induction motors (LIMs). The first part has treated the theoretical formulation of the input–output feedback linearization control technique as to be applied to linear induction motors. This second part describes the set of tests, both in numerical simulations and experiments, performed to assess the validity of the control technique. In particular, it addresses the issues of the sensitivity of the FL control versus the LIM electrical parameters’ variations and the improvements achievable by considering the LIM dynamic end effects…

State Space-Vector Model of Linear Induction Motors including End-Effects and Iron Losses Part I: Theoretical Analysis

2020

This is the first part of the article, divided into two parts, dealing with the definition of a space-vector dynamic model of the linear induction motor (LIM) taking into consideration both the dynamic end-effects and the iron losses and its offline identification. This first part specifically treats the theoretical formulation of this model, which has been expressed in a state form, so to be, in perspective, suitably adopted for developing novel nonlinear control techniques, nonlinear observers as well as electrical losses minimization techniques. Besides the formulation of the dynamic model in space-vector state form, a steady-state analysis is proposed, highlighting the combined effects …

Application of a genetic algorithm in calibration of traffic microsimulation models

2017

This chapter describes the genetic algorithm-based calibration procedure for a microscopic traffic simulation model focusing on freeways and modern roundabouts. For both case studies, the genetic algorithm tool in MATLAB® was applied in order to reach the convergence between the outputs from Aimsun microscopic simulator and the observed data. The automatic interaction with Aimsun software was implemented through an original external Python script. Results showed that the genetic algorithm-based calibration procedure gave a better match to the observed data than simple manual calibration and the efficiency of the calibration efforts resulted significantly improved. At last, the calbrated mod…

Feedback Linearization Based Nonlinear Control of SynRM Drives Accounting for Self- and Cross-Saturation

2022

This article proposes a nonlinear controller based on feedback linearization (FL) for synchronous reluctance motor (SynRM) drives which takes into consideration the magnetic saturation. The proposed nonlinear FL control based control technique has been developed starting from the theoretical definition of an original dynamic model of the SynRM taking into consideration both the self- and the cross-saturation effects. Such a control technique permits the dynamics of both the speed and axis flux loops to be maintained constant independently from the load and the saturation of the iron core in both constant flux and variable direct axis flux operating conditions. Finally, sensitivity of the pe…

Hybrid Modelling and Control of a Class of Power Converters With Triangular-Carrier PWM Inputs

2021

In this paper, a new control design procedure for a class of power converters based on hybrid dynamical systems theory is presented. The continuous-time dynamics, as voltage and current signals, and discretetime dynamics, as the on-off state of the switches, are captured with a hybrid model. This model avoids the use of averaged and approximated models and includes the PWM as well as the sample-and-hold mechanism, commonly used in the industry. Then, another simplified hybrid system, whose trajectories match with the original one, is selected to design the controller and to analyse stability properties. Finally, an estimation of the chattering in steady state of the voltage and current sign…

A Model Modulated Predictive Current Control Algorithm for the Synchronous Reluctance Motor

2022

This paper proposes a Model Modulated Predictive Control (M2PC) specifically developed for Synchronous Reluctance Motors (SynRM) drives and based on a purposely developed magnetic model taking into account both self- and cross-saturation. The proposed M2PC exploits the discrete-time version of the dynamic model to compute the current prediction and the resulting predicted current error. The built-in PWM modulator chooses the optimal pair of voltage space-vector to be applied by the inverter to minimize the current error. The magnetic model permits obtaining good dynamic performance in every working condition.

Feedback Linearizing Control of Induction Motor Considering Magnetic Saturation Effects

2015

This paper presents an input-output feedback linearization (FL) control technique for rotating induction motors, which takes into consideration the magnetic saturation of the iron core. Starting from a new formulation of the dynamic model taking into consideration the magnetic saturation expressed in a space-state form in the rotor-flux-oriented reference frame, the corresponding FL technique has been developed. To this aim, a particular care has been given to the choice of nonlinear functions interpolating the magnetic parameters versus the rotor magnetizing current and the corresponding magnetic characteristic. The proposed FL technique has been tested experimentally on a suitably develop…

Space-vector State Dynamic Model of the SynRM Considering Self, Cross-Saturation and Iron Losses and Related Identification Technique

2023

This article proposes a space-vector dynamic model of the Synchronous Reluctance Motor (SynRM) including both self-saturation, cross-saturation effects, and iron losses. The model is expressed in state form, where the magnetizing current has been selected as a state variable. The proposed dynamic model is based on an original function describing the relationship between the stator flux and the magnetizing current components, improving a previously developed magnetic model. Additionally, the proposed model includes, besides the magnetic saturation, also iron losses. The proposed model requires 11 coefficients, among which 6 describe the self-saturation on both axes and 5 describe the cross-s…

Sensorless induction machine drive for fly-wheel generation unit based on a TLS-based non-linear observer

2016

This paper proposes a sensorless technique for an induction machine Flywheel Energy Storage System (FESS) based on a non-linear observer integrated with a total least-squares speed estimator taking into consideration the IM (Induction Machine) saturation effects. The nonlinear observer is based on an original formulation of the dynamic model of the IM including the magnetic saturation, rearranged in a space-state form, after assuming as state variables the stator current and the rotor magnetizing current space-vectors in the stator reference frame. The choice of the observer gain has been made by the use of Lyapunov's method. The speed signal needed by the non-linear observer for the flux e…

Input-Output Feedback Linearization Control of Linear Induction Motors Including the dynamic End-Effects

2014

This paper proposes the theoretical framework and the consequent application of the input-output feedback linearization (FL) control technique to linear induction motors (LIM). LIM, additionally to RIM, presents other strong non-linearities caused by the dynamic end effects, leading to a space-vector dynamic model with time-varying inductance and resistance terms and a braking force term. This paper, starting from a recently developed dynamic model of the LIM taking into consideration its end effects, defines a FL technique suited for LIMs, since it inherently considers its dynamic end effects. The proposed approach has been validated experimentally on a suitably developed test set-up. Furt…

Input-Output Feedback Linearization Control with On-Line Inductances Estimation of Synchronous Reluctance Motors

2021

This paper proposes an adaptive input-output Feedback Linearization (FL) techniques for Synchronous Reluctance Motor (SynRM) drives, taking into consideration the iron losses. As a main original content, this work proposes a control law based on a new dynamic model of the SynRM including iron losses as well as the on-line estimation of the static inductances. The on-line estimation of the SynRM static inductances permits to inherently take into consideration the magnetic saturation phenomena occuring on both axes. The estimation law is obtained thanks to a Lyapunov-based analysis and thus the stability of the entire control system, including the estimation algorithm, is intrinsically guaran…

Vector Projection-based Sensorless Control of a SynRM Drive Including Self and Cross-Saturation

2022

This paper presents a sensorless technique for SynRM drives that is based on a vector projection method and takes into consideration the magnetic saturation of the motor, both the self and the cross-saturation. The proposed method is based on the dynamic equation of the SynRM including saturation, rewritten in integral form, and does not involve any high-frequency carrier injection. The technique has been tested in numerical simulation and experimentally on a suitably developed test set-up. Experimental results show a correct behavior of the sensorless SynRM drive, properly accomplishing speed transients in a wide speed range, including low speed, still maintaining a good accuracy in the sp…

Descriptor-type Robust Kalman Filter and Neural Adaptive Speed Estimation Scheme for Sensorless Control of Induction Motor Drive Systems

2012

Abstract This paper deals with robust estimation of speed and rotor flux for sensorless control of motion control systems which use induction motors as actuators. Due to the observability lack of five and six order Extended Kalman Filters, speed is here estimated by means of a Total Least Square algorithm with Neural Adaptive mechanism. This allows the use of a fourth-order Kalman Filter for estimating rotor flux and to filter stator currents. To cope with motor-load parameter variations, a descriptor-type robust Kalman Filter is designed taking explicitly into account these variations. The descriptor-type structure allows direct translation of parameter variations into variations of the co…

Input-Output Feedback Linearization Control with On-line MRAS Based Inductor Resistance Estimation of Linear Induction Motors Including the Dynamic E…

2016

This paper proposes the theoretical framework and the consequent application of the input–output feedback linearization (FL) control technique to linear induction motors (LIMs). LIM, additionally to rotating induction motor, presents other strong nonlinearities caused by the dynamic end effects, leading to a space-vector dynamic model with time-varying inductance and resistance terms and a braking force term. This paper, starting from a recently developed dynamic model of the LIM taking into consideration its end effects, defines a FL technique suited for LIMs, since it inherently considers its dynamic end effects. Additionally, it proposes a technique for the on-line estimation of the indu…

Hybrid nonlinear observer for Inertial Navigation

2016

This paper considers the problem of designing an observer for navigation and localization of inertial systems. Since the measurement systems used in this field have a low update rate with respect to the control algorithm, the design of a suitable observer with sampled measurements is required. Here a hybrid non-linear observer is proposed, combining two different observers with different characteristics. A theoretical treatment is given in order to prove the convergence of the observer and it will be contextualized in the framework of the hybrid systems, providing an elegant setting for the proposed solution. Finally experimental results show the feasibility of the proposed observer and the…

A hybrid observer for localization of mobile vehicles with asynchronous measurements

2019

The aim of this paper is the design of a hybrid nonlinear observer for mobile vehicles. The main problem is that position and velocity measurements are provided with a very low frequency, and the time between two consecutive measurements could be not constant, but it could vary randomly within a certain interval of time. For this reason the proposed observer has been contextualized in the hybrid systems framework. The convergence analysis of the estimation error has been carried out, and the sensitivity analysis has been performed in order to evaluate the bound of the estimation error when the measurements are biased and/or noisy. Simulation and experimental results, carried out on a mobile…

Active Disturbance Rejection Control of Synchronous Reluctance Motors

2020

This paper describes how the ADRC (Active Disturbance Rejection Control) strategy can be successfully applied to SynRM (Synchronous Reluctance Motor) drives. The ADRC is an adaptive robust extension of the input-output Feedback Linearization Control (FLC). Its main feature is that the nonlinear transformation of the state is computed on-line and not by using the model. As a consequence, any unmodelled dynamics or uncertainty of the parameters can be addressed. The control strategy has been verified successfully with experimental tests confirming the high dynamic response of the drive.

Estimation of Passenger Car Equivalents for single-lane roundabouts using a microsimulation-based procedure

2017

Calibration of microscopic traffic simulation models for single-lane roundabouts.Use of a meta-analytical estimation of critical and follow up headways.Use of a genetic algorithm-based procedure.Calculation of passenger car equivalents for single-lane roundabouts. Passenger car equivalents for heavy vehicles are required to carry out capacity calculations and perform operational analysis of any road entity (roadway segments or intersections). At single-lane roundabouts, the constraints to the vehicular trajectories imposed by the curvilinear geometric design and the driver's gap acceptance behaviour are expected to produce an impact of the heavy vehicles on the quality of traffic flow diffe…

Development of a High Granularity Photovoltaic Model That Considers Complex Nonuniform Shadow Conditions and Different Cell Temperatures

2012

In this paper is the development of a high granularity photovoltaic model that considers complex nonuniform shadow conditions and different cell temperatures. The model integrates the nonuniform shading characteristics such as different areas for each cell, different direct and indirect solar irradiations for each cell, and different temperatures. The area of the shadow on the PV module is found using image processing. The bond graph formalism facilitates the representation of the energy exchange between the different parts of the PV module. This complexity justifies the effort to develop a high-granularity tool. The proposed model is validated through experimental tests under shading condi…

Localization in Structured Environments with UWB Devices without Acceleration Measurements, and Velocity Estimation Using a Kalman–Bucy Filter

2022

In this work, a novel scheme for velocity and position estimation in a UWB range-based localization system is proposed. The suggested estimation strategy allows to overcome two main problems typically encountered in the localization systems. The first one is that it can be suitable for use in environments where the GPS signal is not present or where it might fail. The second one is that no accelerometer measurements are needed for the localization task. Moreover, to deal with the velocity estimation problem, a suitable Kalman–Bucy filter is designed and it is compared, experimentally, with a particle filter by showing the features of the two algorithms in order to be used in a localization …

Sensorless Control of Induction-Motor Drive Based on Robust Kalman Filter and Adaptive Speed Estimation

2014

This paper deals with robust estimation of rotor flux and speed for sensorless control of motion control systems with an induction motor. Instead of using sixth-order extended Kalman filters (EKFs), rotor flux is estimated by means of a fourth-order descriptor-type robust KF, which explicitly takes into account motor parameter uncertainties, whereas the speed is estimated using a recursive least squares algorithm starting from the knowledge of the rotor flux itself. It is shown that the descriptor-type structure allows for a direct translation of parameter uncertainties into variations of the coefficients appearing in the model, and this improves the degree of robustness of the estimates. E…

Adaptive Feedback Linearization Control of SynRM Drives With On-Line Inductance Estimation

2023

This article proposes an adaptive input-output Feedback Linearization Control ( FLC ) techniques for Synchronous Reluctance Motor ( SynRM ) drives, taking into consideration the iron losses. As a main original content, this work proposes a control law based on a new dynamic model of the SynRM including iron losses as well as the on-line estimation of the static inductances. The on-line estimation of the SynRM static inductances permits to inherently take into consideration the magnetic saturation phenomena occuring on both axes. As a major result, it permits a null stator current steady state tracking error even with a proportional derivative controller. The estimation law is obtained thank…

State Space-Vector Model of Linear Induction Motors Including Iron Losses Part I: Theoretical Analysis

2018

This is the first part of a paper, divided into two parts, dealing with the definition of a space-vector dynamic model of the linear Induction motor (LIM) taking into consideration both the dynamic end-effects and the iron losses and its off-line identification. This first part specifically treats the theoretical formulation of this model, which has been expressed in a state form, so to be, in perspective, suitably adopted for developing novel non linear control techniques, non-linear observers as well as electrical losses minimization techniques (ELMTs). Besides the formulation of the dynamic model in space-vector state form, a steady-state analysis is proposed, highlighting the combined e…

Min-Type Control Strategy of a DC-DC Synchronous Boost Converter

2019

International audience; This paper presents the analysis and design of a min-type strategy to control a synchronous boost converter in continuous conduction mode. The strategy uses a nonlinear switching surface to establish the change of topology in the converter and is analyzed by means of a sliding-mode control approach. Subsequently, the min-type strategy is modified by a hybrid control formulation, which introduces a hysteresis width and a dwell-time to obtain a finite switching frequency in the start-up and steady-state respectively. The hybrid control formulation is implemented digitally by means of a microprocessor which processes the samples of inductor current and capacitor voltage…

Modeling and Performance Assessment of the Split-Pi Used as a Storage Converter in All the Possible DC Microgrid Scenarios. Part I: Theoretical Analy…

2021

The integration of an electrical storage system (ESS) into a DC microgrid using a bidirectional DC/DC converter provides substantial benefits but requires careful design. Among such converter topologies, the Split-pi converter presents several merits at the cost of non-isolated operation. However, the few works in the literature on the Split-pi presented only closed-loop control with a single control loop; furthermore, they neglected the reactive components’ parasitic resistances and did not perform any experimental validation. This work aimed at investigating the use of the Split-pi converter as a power interface between an ESS and a DC microgrid. Five typical microgrid scenarios are prese…

Input-Output Feedback Linearization Control of a Linear Induction Motor Taking Into Consideration Its Dynamic End-Effects and Iron Losses

2020

This article proposes a new input-output feedback linearization control (FLC) technique of linear induction motors (LIMs), taking into consideration both the dynamic end-effects and the iron losses. Starting from a previously conceived dynamic model, including the dynamic end-effects and the iron losses, all the theoretical framework of the FLC has been developed. The proposed FLC improves a previous version of FLC in accounting also the iron losses, which in LIMs with fixed-secondary sheet play a pivotal role more than in rotating induction motors (RIMs). The proposed FLC has been experimentally tested on a suitably developed test setup, and experimental comparisons between the proposed FL…

Robust Active Disturbance Rejection Control of Induction Motor Systems Based on Additional Sliding-Mode Component

2017

This paper deals with motion control systems with induction motor, subject to severe requirements on both dynamics and steady-state behavior. The proposed control methodology could be viewed as an advancement of the standard field oriented control. It consists of two control loops, i.e., the rotor flux and the speed control loops, designed using the active disturbance rejection control method, with the aim to cope with both exogenous and endogenous disturbances, which are estimated by means of two linear extended state observers and then compensated. Moreover, with the aim of achieving total robustness, a sliding-mode based component is designed, in order to take into account disturbance es…

A Space-Vector State Dynamic Model of the Synchronous Reluctance Motor Including Self and Cross-Saturation Effects and its Parameters Estimation

2018

This paper proposes a space-vector dynamic model of the Synchronous Reluctance Motor (SynRM) including both self-saturation and cross-saturation effects and selecting as state variables the stator currents. The proposed dynamic model is based on an original function between the stator flux and stator current components, and relies on 8 coefficients (fewer than other models in the scientific literature), presenting an interesting physical interpretation. Starting from this approach, both the static and dynamic inductances expressions of the model have been analytically developed, so that the reciprocity conditions for the cross saturation is satisfied. This paper presents also a technique fo…

Localization Based on Parallel Robots Kinematics as an Alternative to Trilateration

2022

In this article, a new scheme for range-based localization is proposed. The main goal is to estimate the position of a mobile point based on distance measurements from fixed devices, called anchors, and on inertial measurements. Due to the nonlinear nature of the problem, an analytic relation to compute the position starting from these measurements does not exist, and often trilateration methods are used, generally based on least-square algorithms. The proposed scheme is based on the modeling of the localization process as a parallel robot, thereby methodologies and control algorithms used in the robotic area can be exploited. In particular, a closed-loop control system is designed for trac…

Hybrid Propulsion Efficiency Increment through Exhaust Energy Recovery—Part 2: Numerical Simulation Results

2023

The efficiency of hybrid electric vehicles may be substantially increased if the energy of exhaust gases, which do not complete the expansion inside the cylinder of the internal combustion engine, is efficiently recovered using a properly designed turbo-generator and employed for vehicle propulsion. Previous studies, carried out by the same authors of this work, showed a potential hybrid vehicle fuel efficiency increment up to 15% employing a 20 kW turbine on a 100 HP-rated power thermal unit. The innovative thermal unit proposed here is composed of a supercharged engine endowed with a properly designed turbo-generator, which comprises two fundamental elements: an exhaust gas turbine expres…

Time-varying Sampled-data Observer with Asynchronous Measurements

2019

International audience; In this paper a time-varying observer for a linear continuous-time plant with asynchronous sampled measurements is proposed. The observer is contextualized in the hybrid systems framework providing an elegant setting for the proposed solution. In particular some theoretical tools are provided, in terms of LMIs, certifying asymptotic stability of a certain compact set where the estimation error is zero. We consider sampled asynchronous measurements that occur at arbitrary times in a certain window with an upper and lower bound. The design procedure, that we propose for the selection of the time-varying gain, is based on a constructive algorithm that is guaranteed to f…

A Hybrid Control Strategy for Quadratic Boost Converters with Inductor Currents Estimation

2020

International audience; This paper deals with a control strategy for a DC-DC quadratic boost converter. In particular, a hybrid control scheme is proposed to encompass a control law and an observer for the estimation of the system states, based only on the measurements of the input and output voltages. Differently from classical control methods, where the controller is designed from a small-signal model, here the real model of the system is examined without considering the average values of the discrete variables. Using hybrid dynamical system theory, asymptotic stability of a neighborhood of the equilibrium point is established, ensuring practical stability of the origin, which contains es…

Sliding Mode Control of Quadratic Boost Converters Based on Min-Type Control Strategy

2023

The paper deals with the control of a quadratic boost converter supplied by low-voltage energy sources, such as photovoltaic panels, fuel cells, or batteries. The control scheme consists of two control loops. A min-type controller governs the inner loop to force the current state of the nominal model to converge in a neighborhood of the equilibrium state. The external loop processes the output tracking error using an integrator, and it allows reconfiguring the converter's working point by changing the equilibrium state given in the input to the internal loop. This configuration assures both zero tracking error of the output voltage and robustness against load and input voltage variations an…

Modeling and Performance Assessment of the Split-Pi Used as a Storage Converter in All the Possible DC Microgrid Scenarios. Part II: Simulation and E…

2021

Bidirectional DC/DC converters such as the Split-pi can be used to integrate an energy storage system (ESS) into a DC microgrid providing manifold benefits. However, this integration deserves careful design because the ESS converter must behave like a stiff voltage generator, a non-stiff voltage generator, or a current generator depending on the microgrid configuration. Part I of this work presented a comprehensive theoretical analysis of the Split-pi used as an ESS converter in all the possible DC microgrid scenarios. Five typical microgrid scenarios were identified. Each of them required a specific state-space model of the Split-pi and a suitable control scheme. The present paper complete…

Linear flux observers for induction motors with quadratic Lyapunov certificates

2016

International audience; We propose a full order Linear Time-Varying (LTV) Luenberger observer for the rotor flux estimation of an induction motor. Introducing a suitable reduced-order Linear-Time-Invariant (LTI) system that is always observable and controllable, we show that any arbitrary LTI design and its quadratic Lyapunov certificates can be lifted to the higher-order original LTV dynamics obtaining the same certificates. As a result, we show that arbitrary global uniform exponential bounds can be imposed on the estimation error, regardless of the rotor speed. Then applying a suitable order reduction technique, we build a reduced observer providing the same guarantees. We also establish…

Input-output feedback linearizing control of linear induction motor taking into consideration the end-effects. Part I: Theoretical analysis

2015

Abstract This first part of a paper, divided into two parts, deals with the theoretical formulation of the input–output feedback linearization (FL) control technique as to be applied to linear induction motors (LIMs). Linear induction motors, differently from rotating induction motors (RIMs), present other strong non-linearities caused by the so-called dynamic end effects, leading to a space-vector model with time-varying inductance and resistance terms and an additional braking force term. This paper, starting from a dynamic model of the LIM taking into consideration its dynamic end effects, previously developed by the same authors, defines a feedback linearization (FL) technique suited fo…

Capacity-based calculation of passenger car equivalents using traffic simulation at double-lane roundabouts

2018

Abstract Calculation of passenger car equivalents for heavy vehicles represents the starting point for the operational analysis of road facilities and other traffic management applications. This paper introduces a criterion to find the passenger car equivalents that reflect traffic conditions at double-lane roundabouts, where the capacity is typically estimated for each entry lane. Based on the equivalence defined by the proportion of capacity used by vehicles of different classes, the criterion implies a comparison between the capacity that would occur with a traffic demand of passenger cars only and the capacity reached beginning from a demand with a certain percentage of heavy vehicles. …

Genetic algorithm-based calibration of microscopic traffic simulation model for single-lane roundabouts

2017

A calibration procedure for microscopic simulation models based on a genetic algorithm is proposed. Focus is made on single-lane roundabouts for which many random factors such as gap- acceptance affect operations. A comparison is performed between the capacity functions based on a meta- analytic estimation of critical and follow up headways and simulation outputs of a roundabout built in Aimsun microscopic simulator. Aimsun parameters were optimized using the genetic algorithm tool in MATLAB® which automatically interacted with Aimsun through a Python interface. Results showed that applying the genetic algorithm in the calibration process of the microscopic simulation model, a good match to…

MRAS Sensorless Techniques for High Performance Linear Induction Motor Drives.

2010

This paper proposes an MRAS (Model reference Adaptive System) speed observer suited for linear induction motors (LIM). Starting from the dynamical equation of the LIM in the synchronous reference frame in literature, the so-called voltage and current models of the LIM in the stationary reference frame, taking into consideration the end effects, have been deduced. These equations have been used respectively as reference and adaptive model of an MRAS observer. As machine under test, a complete dynamic model, based on the constructive elements of the LIM and taking into consideration the end effects by the definition of a proper air-gap function, has been adopted. This model has been previousl…

Supplemental Material, sj-pdf-1-arx-10.1177_1729881421996974 - Trajectory robust control of autonomous quadcopters based on model decoupling and dist…

2021

Supplemental Material, sj-pdf-1-arx-10.1177_1729881421996974 for Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation by Francesco Alonge, Filippo D’Ippolito, Adriano Fagiolini, Giovanni Garraffa and Antonino Sferlazza in International Journal of Advanced Robotic Systems

Advanced Motion Control in Induction Motor Systems - Modelling, Analysis and Control

Using a unified notation, this thesis collects and discusses the most important steps and issues in the design of estimation and control algorithms for induction motors. It contains many estimation and control algorithms. Their stability is analyzed and their performance is illustrated by simulations and experiments on the same induction motor. An intense and challenging collective research effort is carefully documented and analyzed, with the aim of providing and clarifying the basic intuition and tools required in the analysis and design of nonlinear feedback control algorithms. This material should be of specific interest to engineers who are engaged in the design of control algorithms f…

Comparison between SiC and GaN switching devices in fast-recharging systems for electric vehicles

2023

Recently, the improvement of the semiconductor devices to achieve higher efficiency and higher power density has risen to interest. Si carbide and gallium nitride offer faster switching frequency and lower losses; however, the knowledge of the behaviour of these devices is not mature. In this paper, a system for fast charging of batteries for electric vehicles based on an isolated DC-DC converter equipped with both SiC and GaN devices is presented and an interesting experimental comparison among these two technologies will be given in terms of dynamic performances, electromagnetic compatibility, stability, efficiency, and so on.