Search results for "automatic"

Extended Kalman Filter for sensorless control of induction motors

2010

This paper deals with speed and rotor flux estimation of induction motors via Extended Kalman Filter (EKF). The filter is designed starting from a discrete time model obtained by means of a first order discretization of the original nonlinear model of the induction motor (IM). In order to obtain accurate estimation of the above mentioned variables, the load torque is included into the state variables and then estimated, thus constructing a sixth order EKF. Experimental results are shown with reference to a closed loop sensorless control system, consisting of a 750 W induction motor supplied by a voltage source inverter, a cascade controller consisting of four PI control loops and the design…

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…

Observer-based control design for a class of nonlinear systems subject to unknown inputs: LMI approach

2015

This paper deals with the problem of observer-based controller design for a class of nonlinear systems subject to unknown inputs. A novel method is presented to design a controller using estimated state variables which guarantees all the state variables of the closed-loop system converge to the vicinity of the origin and stay there forever. This is done via satisfying several sufficient conditions in terms of nonlinear matrix inequalities. In light of linear algebra, particularly matrix decompositions, the achieved conditions will be converted to a Linear Matrix Inequality (LMI) problem to facilitate the procedure of computing the observer and controller gains. Finally, the effectiveness of…

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…

Mean-field games and dynamic demand management in power grids

2013

This paper applies mean-field game theory to dynamic demand management. For a large population of electrical heating or cooling appliances (called agents), we provide a mean-field game that guarantees desynchronization of the agents thus improving the power network resilience. Second, for the game at hand, we exhibit a mean-field equilibrium, where each agent adopts a bang-bang switching control with threshold placed at a nominal temperature. At equilibrium, through an opportune design of the terminal penalty, the switching control regulates the mean temperature (computed over the population) and the mains frequency around the nominal value. To overcome Zeno phenomena we also adjust the ban…

Robust Mean Field Games

2015

Recently there has been renewed interest in large-scale games in several research disciplines, with diverse application domains as in the smart grid, cloud computing, financial markets, biochemical reaction networks, transportation science, and molecular biology. Prior works have provided rich mathematical foundations and equilibrium concepts but relatively little in terms of robustness in the presence of uncertainties. In this paper, we study mean field games with uncertainty in both states and payoffs. We consider a population of players with individual states driven by a standard Brownian motion and a disturbance term. The contribution is threefold: First, we establish a mean field syste…

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…

ASR in Classroom Today : Automatic Visualization of Conceptual Network in Science Classrooms

2017

Automatic Speech Recognition (ASR) field has improved substantially in the last years. We are in a point never saw before, where we can apply such algorithms in non-ideal conditions such as real classrooms. In these scenarios it is still not possible to reach perfect recognition rates, however we can already take advantage of these improvements. This paper shows preliminary results using ASR in Chilean and Finnish middle and high school to automatically provide teachers a visualization of the structure of concepts present in their discourse in science classrooms. These visualizations are conceptual networks that relate key concepts used by the teacher. This is an interesting tool that gives…

Diagnostic of Supercapacitors based on State Estimation through Extended Kalman Filter

This thesis aimed to analyze the supercapacitor behavior to verify the possibility of the estimation of its internal parameters for diagnostic purposes. The target has been reached firstly by a theoretical analysis which showed that the crucial parameters for diagnostic purposes are the voltage of the non-linear capacitance, since it gives a measure of the stored charge, and the parasitic resistance which limits the maximum allowable current and influences losses. Secondly it has been verified when a supercapacitor parameters are observable and finally an extended Kalman filter to obtain such parameters has been set up. The Thesis demonstrated that a supercapacitor can be modelled by a 2-br…

Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes

2020

[EN] This article develops a human-robot cooperation to carry out treatments such as sanding, polishing, etc. on the surface of a known rigid object. For this purpose, a vision system is considered to get the object location to ensure not only the perpendicularity of the obot tool to the object surface but also a smooth approach of the tool to the surface. In order to add flexibility, the proposal includes the simultaneous combination of automatic and manual modes of operation. Thus, the human user can guide the robot tool to treat arbitrary areas (manual mode) and, when the operator releases the tool, the robot goes into the automatic mode to treat prior established areas. The method uses …