Search results for "Control theory"
showing 10 items of 1333 documents
A Phase-Locked Loop for the Synchronization of Power Quality Instruments in the Presence of Stationary and Transient Disturbances
2007
Power quality instrumentation requires accurate fundamental frequency estimation and signal synchronization, even in the presence of both stationary and transient disturbances. In this paper, the authors present a synchronization technique for power quality instruments based on a single-phase software phase-locked loop (PLL), which is able to perform the synchronization, even in the presence of such disturbances. Moreover, PLL is able to detect the occurrence of a transient disturbance. To evaluate if and how the synchronization technique is adversely affected by the application of stationary and transient disturbing influences, appropriate testing conditions have been developed, taking int…
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…
Synergic algorithms for the planning and the intelligent following of a trajectory for non-holonomic vehicles
2008
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 …
odeling of Human Arm Energy Expenditure for Predicting Energy Optimal Trajectories
2011
Human arm motion can inspire the trajectory planning of anthropomorphic robotic arms to achieve energy-efficient movements. An approach for predicting metabolic cost in the planar human arm motion by means of the biomechanical simulation is proposed in this work. Two biomechanical models, including an analytical model and a musculoskeletal model, are developed to implement the proposed approach. The analytical model is developed by modifying a human muscle expenditure model, in which the muscles are grouped as torque providers for computation efficiency. In the musculoskeletal model, the predication of metabolic cost is conducted on the basis of individual muscles. With the proposed approac…
Effects of electrical and mechanical parameters on the transient voltage stability of a fixed speed wind turbine
2011
Abstract In this paper the dynamic behaviour of a wind turbine connected to the grid is examined. The model of the fixed speed wind turbine has been developed with the Simulink simulation tool (Matlab Inc.) It is composed of the induction generator, the shaft system, an aerodynamic model of the wind turbine rotor and the pitch control system. Using this model, a three-phase fault is applied close to the wind turbine and cleared by disconnecting the faulty line. The rigorous implementation of the simulink model allowed the authors to evaluate the exact dependence of various electrical parameters for the induction generator on voltage stability. Furthermore, the effects of wind turbine mechan…
FPGA implementation of a fuel cell emulator
2010
Fuel cell based systems are usually tested with the aid of high-cost and complex auxiliary devices. A fuel cell emulator is an attractive solution for preliminary downward system test. The emulator replaces the effective power source saving cost, volume and hydrogen reserve still ensuring high-accuracy of test results. The use of a highperformance fuel cell model is essential for a successful conclusion of the overall design process. Although the proposed emulator is suitable for each fuel cell type and power level, a 10W Proton Exchange Membrane Fuel Cell emulator is designed and tested. An FPGA based controller models the fuel cell steady-state and dynamic behaviour, including temperature…
Optimal power flow based on glow worm-swarm optimization for three-phase islanded microgrids
2014
This paper presents an application of the Glowworm Swarm Optimization method (GSO) to solve the optimal power flow problem in three-phase islanded microgrids equipped with power electronics dc-ac inverter interfaced distributed generation units. In this system, the power injected by the distributed generation units and the droop control parameters are considered as variables to be adjusted by a superior level control. Two case studies with different optimized parameters have been carried out on a 6-bus test system. The obtained results showed the effectiveness of the proposed approach and overcomes the problem of OPF in islanded microgrids showing loads unbalance.
Tool-Point Control for a Redundant Heave Compensated Hydraulic Manipulator
2012
Abstract In this paper, theoretical and experimental implementation of heave compensation on a redundant hydraulically actuated manipulator with 3-dof has been carried out. The redundancy is solved using the pseudo-inverse Jacobian method. Techniques for minimizing velocities and avoiding mechanical joint saturations is implemented in the null space joint motion. Model based feed-forward, combined with a PI-controller handles the velocity control of each joint. A time domain simulation model has been developed, experimentally verified, and used for controller parameter tuning. Model verification and experimental results are obtained while the manipulator is exposed to wave disturbances crea…
A robust fault detection design for uncertain Takagi-Sugeno models with unknown inputs and time-varying delays
2013
Abstract This paper investigates the problem of robust fault detection system design for a class of uncertain Takagi–Sugeno (T–S) models. The system under consideration is subject to unknown input and time-varying delay. The fault detection system is designed such that the unknown input is thoroughly decoupled from residual signals generated by the fault detection system. Furthermore, the residual signals show the maximum possible sensitivity to the faults and the minimum possible sensitivity to the external disturbances. The model matching approach is utilized to tackle the effects of parametric uncertainties in the model of the system. The design procedure is presented in terms of Linear …
Phase Margin Degradation of a Peak Current Controlled Converter at Reduced Duty Cycle
2010
An inner current loop is frequently used in many switching power supplies to achieve higher stability and a good current sharing. Nevertheless, some problems derived from its practical implementation can be encountered. One problem is related to the need of filtering of the sensed current and was discovered by the authors in the implementation of a 500 W converter, when peak current control was applied by sensing the switch current. This paper will demonstrate mathematically that an RC filter not only filters out the noise but also can cause a degradation of the phase margin, especially, if the needed duty cycle is close to zero. The main reason for it is the severe distortion of the curren…