Energy-oriented Modeling And Control of Robotic Systems

This research focuses on the energy-oriented control of robotic systems using an ultracapacitor as the energy source. The primary objective is to simultaneously achieve the motion task objective and to increase energy efficiency through energy regeneration. To achieve this objective, three aims have been introduced and studied: brushless DC motors (BLDC) control by achieving optimum current in the motor, such that the motion task is achieved, and the energy consumption is minimized. A proof-ofconcept study to design a BLDC motor driver which has superiority compare to an off-the-shelf driver in terms of energy regeneration, and finally, the third aim is to develop a framework to study energy-oriented control in cooperative robots. The first aim is achieved by introducing an analytical solution which finds the optimal currents based on the desired torque generated by a virtual. Furthermore, it is shown that the well-known choice of a zero direct current component in the direct-quadrature frame is sub-optimal relative to our energy optimization objective. The second aim is achieved by introducing a novel BLDC motor driver, composed of three independent regenerative drives. To run the motor, the control law is obtained by specifying an outer-loop torque controller followed by minimization of power consumption via online constrained quadratic optimization. An experiment is conducted to assess the performance of the proposed concept against an off-the-shelf driver. It is shown that, in terms of energy regeneration and consumption, the developed driver has better performance, and a reduction of 15% energy consumption is achieved. v For the third aim, an impedance-based control scheme is introduced for cooperative manipulators grasping a rigid object. The position and orientation of the payload are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy consumption and maintaining stability. To this end, an optimization problem is formulated using energy balance equations. The optimization finds the damping and stiffness gains of the impedance relation such that the energy consumption is minimized. Furthermore, L2 stability techniques are used to allow for time-varying damping and stiffness in the desired impedance. A numerical example is provided to demonstrate the results

Modelling and simulation of stand-alone self-excited induction generator for wind power application

Wind energy is one of the most important and promising source of renewable energy all over the world. Throughout the globe in last three or four decades generation of electricity from wind energy has created a wide interest. At the same time there has been a rapid development of wind energy related technology. The control and estimation of wind energy conversion system constitute a vast subject and are more complex than those of dc drives. Induction generators are widely preferable in wind farms because of its brushless construction, robustness, low maintenance requirements and self-protection against short circuits. However poor voltage regulation and low power factor are its weaknesses. This thesis covers the analysis, dynamic modelling and control of an isolated self-excited induction generator (SEIG) driven by a variable speed prime mover. The proposed dynamic model consists of induction generator, self-excitation capacitance and load model which are expressed in stationary d-q reference frame. The dynamic performance of SEIG is investigated under no load, with load and perturbation of load. To predict the performance of the purposed system, a MATLAB/ SIMULINK based simulation study was carried out. Viability of the excitation process is ascertained through experimental results obtained from the laboratory prototype machine. It also includes Dynamic analysis of voltage controller for SEIG using current control voltage source inverter (CC-VSI)

Lithium-Ion Ultracapacitor Energy Storage Integrated with a Variable Speed Wind Turbine for Improved Power Conversion Control

The energy of wind has been increasingly used for electric power generation worldwide due to its availability and ecologically sustainability. Utilization of wind energy in modern power systems creates many technical and economical challenges that need to be addressed for successful large scale wind energy integration. Variations in wind velocity result in variations of output power produced by wind turbines. Variable power output becomes a challenge as the amount of output power of the wind turbines integrated into power systems increases. Large power variations cause voltage and frequency deviations from nominal values that may lead to activation of relay protective equipment, which may result in disconnection of the wind turbines from the grid. Particularly community wind power systems, where only one or a few wind turbines supply loads through a weak grid such as distribution network, are sensitive to supply disturbances. While a majority of power produced in modern power systems comes from synchronous generators that have large inertias and whose control systems can compensate for slow power variations in the system, faster power variations at the scale of fraction of a second to the tens of seconds can seriously reduce reliability of power system operation. Energy storage integrated with wind turbines can address this challenge. In this dissertation, lithium-ion ultracapacitors are investigated as a potential solution for filtering power variations at the scale of tens of seconds. Another class of issues related to utilization of wind energy is related to economical operation of wind energy conversion systems. Wind speed variations create large mechanical loads on wind turbine components, which lead to their early failures. One of the most critical components of a wind turbine is a gearbox that mechanically couples turbine rotor and generator. Gearboxes are exposed to large mechanical load variations which lead to their early failures and increased cost of wind turbine operation and maintenance. This dissertation proposes a new critical load reduction strategy that removes mechanical load components that are the most dangerous in terms of harmful effect they have on a gearbox, resulting in more reliable operation of a wind turbine

Dynamic Analysis, Voltage Control and Experiments on a Self Excited Induction Generator for Wind Power Application

Windy areas, waterfalls, reservoirs, high tide locations are extremely helpful for generating clean and economical electrical energy by proper harnessing mechanism. Throughout the globe in last three to four decades generation of electricity out of these renewable sources has created wide interest. Induction generators are widely preferable in wind farms because of its brushless construction, robustness, low maintenance requirements and self protection against short circuits. However poor voltage and frequency regulation and low power factor are its weaknesses. The magnitude of terminal voltage and frequency is completely governed by the rotor speed, excitation and load. The mutual inductance plays a vital role in building up of the terminal voltage. Apart from modeling a self excited induction generator, this thesis carried out a detailed dynamic analysis of self excited induction generator to analyze the effect of speed, excitation capacitance, and mutual inductance on dynamic power variations and frequency of power exchange and on torque variations. A V/f scalar voltage control scheme utilizing an IGBT based sinusoidal pulse width modulated inverter is simulated without load and with load to know the effect of proportional gain of PI controller on the shape of ac side current and on its frequency, simultaneously extracting the information on dynamic active power and reactive power variations for a fixed prime mover speed. As wind speed is continuously varying, the V/f scalar control scheme is simulated for a continuously varying wide range of prime mover speed. The generated constant ac voltage source is useful to frequency insensitive loads like lighting, heating. The available dc voltage across the DC link capacitor could be used to charge batteries and for further extension to a fixed frequency load, after being converted to ac source of same frequency using another converter

Multiple Three-Phase Induction Generators for Wind Energy Conversion Systems

During the past decade, there has been a considerable increase in the number of published works on multiphase machines and drives. This increased interest has been largely driven by a need for the so-called green energy, i.e. energy generated from renewable sources such as wind, and also an increased emphasis on greener means for transportation. Some of the advantages multiphase machines offer over three-phase counterparts are better fault tolerance, smaller current and power per phase, and higher frequency torque ripple. This thesis examines use of a multiphase induction generator in wind energy conversion systems (WECS). In particular, multiphase generators that comprise multiple 3-phase winding sets, where each winding set is supplied using an independent 3-phase voltage source inverter (VSI), are studied. It is claimed that these topologies offer advantages in cases where a WECS is connected to a multitude of independent ac or dc microgrids, systems where a single high-voltage dc link is needed or where a simple fault tolerance is achieved when a complete winding set is switched off. All of these examples require an arbitrary power or current sharing between winding sets. In order to achieve arbitrary current and power sharing, the control can be implemented using multi stator (MS) variables, so that the flux and torque producing currents of each winding set can be arbitrarily set. As an alternative, this thesis uses vector space decomposition (VSD) to implement the control, while individual winding set flux/torque producing currents are governed by finding the relationships between MS and VSD variables. This approach has all the advantages of both MS and VSD, i.e. access to individual winding set variables of MS and the ability to implement control in the multiple decoupled two dimensional subspaces of VSD, while heavy cross coupling between winding set variables, a weakness of MS, is avoided. Since the goal of the thesis is to present use of multiphase machines in WECS, modelling and simulation of a simple multiphase WECS in back-to-back configuration has been performed at first. All systems relevant to machine control where considered, such as grid and machine side VSIs, grid filter, indirect rotor field oriented control, current control in both flux/torque producing and non-producing subspaces, low order harmonic elimination, maximum power point tracking control, and voltage oriented control of the grid side VSI. Moreover, various WECS supply topologies were considered where developed current and power sharing would be a necessary requirement. Development of the proposed current sharing control commences with an analysis of multiple 3-phase machine modelling in terms of both MS and VSD variables. Since the actual control is implemented using decoupled VSD variables, VSD modelling has been studied in detail, resulting in an algorithm for creation of the VSD matrix applicable to any symmetrical or asymmetrical multiphase machine with single or multiple neutral points. Developed algorithm always decouples the machine into orthogonal two-dimensional subspaces and zero sequence components while making sure that all odd-order harmonics are uniquely mapped. Harmonic mapping analysis is offered as well. Next, relationship between MS and VSD variables has been developed by mapping MS variables into VSD subspaces. Since VSD matrix creation algorithm is valid for any multiphase machine, relationship between MS and VSD variables is applicable to any multiple 3-phase machine regardless of the configuration (symmetrical/asymmetrical), number of neutral points or machine type (synchronous or induction). Established relationship between MS and VSD has been used to implement current sharing control in decoupled VSD subspaces of the machine. It is shown that in order to achieve arbitrary current sharing it is only necessary to impose currents in flux/torque non-producing subspaces. Hence, total machine’s flux and torque are not affected at all. Besides verification by Matlab simulations, two topologies are experimentally investigated, a parallel machine side converter configuration and the case when a single high voltage dc link is created by cascading dc-links of the machine side VSIs. In the first case the ability of arbitrary current sharing between winding sets is validated, while the second tested topology demonstrates use of the developed control for the purpose of voltage balancing of the cascaded dc links

Induction Motors

AC motors play a major role in modern industrial applications. Squirrel-cage induction motors (SCIMs) are probably the most frequently used when compared to other AC motors because of their low cost, ruggedness, and low maintenance. The material presented in this book is organized into four sections, covering the applications and structural properties of induction motors (IMs), fault detection and diagnostics, control strategies, and the more recently developed topology based on the multiphase (more than three phases) induction motors. This material should be of specific interest to engineers and researchers who are engaged in the modeling, design, and implementation of control algorithms applied to induction motors and, more generally, to readers broadly interested in nonlinear control, health condition monitoring, and fault diagnosis

Mechanical Engineering

The book substantially offers the latest progresses about the important topics of the "Mechanical Engineering" to readers. It includes twenty-eight excellent studies prepared using state-of-art methodologies by professional researchers from different countries. The sections in the book comprise of the following titles: power transmission system, manufacturing processes and system analysis, thermo-fluid systems, simulations and computer applications, and new approaches in mechanical engineering education and organization systems