Resource-aware motion control:feedforward, learning, and feedback

Controllers with new sampling schemes improve motion systems’ performanc

A Variable Partitioning Strategy for the Multirate Method in Power Systems

An application of the multirate method to differential and algebraic equations (DAEs) is discussed in this paper. Based on the specific formulation of the power systems algebraic equations, an effective algebraic variable partitioning strategy is developed and implemented. The application of the partitioning strategy to an example power system provides validation of the proposed partitioning strategy in terms of speed-up and accuracy

Dual-rate modified stochastic gradient identification for permanent magnet synchronous motor

The high-performance application of high-power permanent magnet synchronous motor (PMSM) is increasing. This paper focuses on the parameter estimation of PMSM. A novel estimation algorithm for PMSM’s dual-rate sampled-data system has been developed. A polynomial transformation technique is employed to derive a mathematical model for PMSM’s dual-rate sampled-data system. The proposed modified stochastic gradient algorithm gets more excellent convergence performance for smaller index ε. Simulation and experimental results demonstrate the effectiveness and performance improvement of the proposed algorithm

Multiscale simulation of frequency dependent line models and network equivalents

The evaluation of power systems encompasses phenomenon of distinct timeframes and so leads to the adoption of different simulation tools. For instance, fast transients related to switching maneuvers require time-steps of microseconds while slow transients, related to energy exchange between generators, demand timesteps of milliseconds. However, the need to assess conditions where slow frequency oscillations might be combined with fast transients is becoming more common. This research evaluates the use of frequency dependent admittance-based models in the development of multiscale algorithms for phase-coordinate modeling of overhead lines, subsea cables and frequency dependent network equivalents. Unlike the modeling with the Method of Characteristics, the direct fitting of the nodal admittance matrix and two alternative schemes are considered to cope with the trade-off between time-step and traveling times, namely: the Folded Line Equivalent and Idempotent Decomposition. The concept of Latency is also addressed in a distinct way to provide more efficient realization frequency dependent models to allow the so-called multirate simulation. The major advantage of the designed models is the straightforward implementation in EMTP-like programs such as PSCAD, EMTP-RV and ATP since they attain the same Norton-type structure. In addition, dynamic phasors allowed the unification of electromagnetic and electromechanical modeling into a single model. Both numerical performance and accuracy of the proposed schemes are evaluated through several test cases. The Method of Characteristics and the Numerical Laplace Transform are used for comparison. The computational burden is considerably reduced without significant loss of accuracy and with no numerical oscillations or discontinuities in the waveforms.A análise de sistemas elétricos engloba fenômenos com diferentes constantes de tempo, o que acarreta na utilização de diversas ferramentas de simulação. Como exemplo, transitórios rápidos envolvendo surtos de manobra demandam passos de integração na ordem de microssegundos enquanto para transitórios lentos, advindos da troca de energia entre geradores, adotam-se passos de integração de milissegundos. O presente trabalho investiga a utilização de modelos baseados em matrizes de admitância variantes na frequência para representação de linhas de transmissão aéreas, cabos submarinos e equivalentes de rede em coordenadas de fase para o desenvolvimento de algoritmos para simulação multiescala. Ao invés da utilização do Método das Características, a matriz de admitância nodal e duas decomposições alternativas são consideradas de modo a contornar a limitação do passo de integração em função do tempo de tráfego de linhas, a saber: o Folded Line Equivalent e a Decomposição Idempotente. O conceito de Latência será também investigado de modo a prover uma realização mais eficiente de modelos variantes na frequência. As formulações desenvolvidas neste trabalho encontram aplicação imediata em programas para simulação de transitórios eletromagnéticos, tais como PSCAD, EMTP-RV e ATP dado que é mantida a representação através dos equivalentes de Norton. Por meio de fasores dinâmicos, torna-se viável a representação de fenômenos eletromagnéticos e eletromecânicos com o mesmo modelo computacional. Casos teste são empregados na avaliação do desempenho e precisão das formulações propostas. O Método das Características e a transformada numérica de Laplace são utilizados para fins de comparação. Com reduzido esforço computacional, resultados com excelente precisão são obtidos sem a presença de oscilações numéricas ou descontinuidades nas formas de onda

Robust and Efficient Uncertainty Quantification and Validation of RFIC Isolation

Modern communication and identification products impose demanding constraints on reliability of components. Due to this statistical constraints more and more enter optimization formulations of electronic products. Yield constraints often require efficient sampling techniques to obtain uncertainty quantification also at the tails of the distributions. These sampling techniques should outperform standard Monte Carlo techniques, since these latter ones are normally not efficient enough to deal with tail probabilities. One such a technique, Importance Sampling, has successfully been applied to optimize Static Random Access Memories (SRAMs) while guaranteeing very small failure probabilities, even going beyond 6-sigma variations of parameters involved. Apart from this, emerging uncertainty quantifications techniques offer expansions of the solution that serve as a response surface facility when doing statistics and optimization. To efficiently derive the coefficients in the expansions one either has to solve a large number of problems or a huge combined problem. Here parameterized Model Order Reduction (MOR) techniques can be used to reduce the work load. To also reduce the amount of parameters we identify those that only affect the variance in a minor way. These parameters can simply be set to a fixed value. The remaining parameters can be viewed as dominant. Preservation of the variation also allows to make statements about the approximation accuracy obtained by the parameter-reduced problem. This is illustrated on an RLC circuit. Additionally, the MOR technique used should not affect the variance significantly. Finally we consider a methodology for reliable RFIC isolation using floor-plan modeling and isolation grounding. Simulations show good comparison with measurements

Impact of the noise on the emulated grid voltage signal in hardware-in-the-loop used in power converters

This work evaluates the impact of the input voltage noise on a Hardware-In-the-Loop (HIL) system used in the emulation of power converters. A poor signal-to-noise ratio (SNR) can compromise the accuracy and precision of the model, and even make certain techniques for building mathematical models unfeasible. The case study presents the noise effects on a digitally controlled totem-pole converter emulated with a low-cost HIL system using an FPGA. The effects on the model outputs, and the cost and influence of different hardware implementations, are evaluated. The noise of the input signals may limit the benefits of increasing the resolution of the model.This research was funded by the Spanish Ministry of Science and Innovation under Project PID2021-128941OB-I00 TRENTI–Efficient Energy Transformation in Industrial Environment

Control analysis and design of medium voltage converter with multirate techniques

This work aims to unify the current knowledge about multirate controllers with design techniques for grid-tied converters, in this occasion, connected to Medium Voltage AC grid. Therefore, the multirate contributions, that have been given so far, are studied, as well as everything related to modulation techniques for power converters. The temporal implications of the DSPWM actuator will be correlated to multirate analysis, in addition to possible alternatives for applications with a lower sampling frequency than modulation one. Finalizing with explanations and result demonstrations of controllers working between two frequencies or rates, by means of the available power converter in laboratory.Este trabajo pretende unir el conocimiento actual sobre controladores multitasa o multifrecuencia (multirate) con técnicas de diseño para convertidores conectados a la red, en este caso concreto, a la red alterna (AC) de Media Tensión. Por tanto, se estudian las contribuciones multirate realizadas hasta la fecha, así como todo lo relacionado con la modulación de la señal de control para los convertidores. Las implicaciones temporales del actuador DSPWM se relacionarán con el análisis multitasa, así como se explicarán posibles alternativas para aplicaciones con una frecuencia de muestreo menor que la de modulación. Finalizando con la explicación y presentación de resultados de controladores trabajando entre dos frecuencias o tasas, mediante simulaciones del convertidor disponible en laboratorio.Máster Universitario en Ingeniería Industrial (M141

De-risking Integrated Full Electric Propulsion (IFEP) vessels using advanced modelling and simulation techniques

Complex multi-domain engineering systems, where for example mechanical and thermal (sub)systems are connected to each other in some way, have increasingly become a vital part of our society. An example of such a system is the Integrated Full Electric Propulsion (IFEP) concept for the marine shipping industry. With this IFEP concept, as opposed to the more conventional marine power system, the power for the ship's propulsion and ship's services is provided by a common power plant. This offers advantages including fuel efficiency and design flexibility. However, due to its system complexity and capital costs, it is important that the overall dynamic behaviour of these systems can be predicted in the early stages of the design. Predicting the overall system behaviour can be obtained by employing an integrated end-to-end model, which combines detailed models of for example the mechanical and electrical (sub)systems. This allows for example ship designers to investigate disturbances and the primary and higher order responses across the system. However, present existing simulation tools do not easily facilitate such employment of a holistic approach. In this thesis the focus is on how advanced modelling and simulation techniques can be used to de-risk the design and in-service of complex IFEP systems. The state-of-the-art modelling and simulation techniques as well as the IFEP application area are considered. An integrated-model of an IFEP vessel was developed under the EPSRC collaborative AMEPS (Advanced Marine Electric Propulsion System) research project, which forms a major part of this thesis. In order to reduce the computational burden, due to a wide variety of time constants in the IFEP system, a multi-rate simulation technique was proposed. It was demonstrated that a reduction in simulation execution time between 10-15 times can be achieved. However, it was conceptually argued that multi-rate simulation could introduce errors, which propagates itself across the system thereby provoking potential unrealistic responses from other subsystems. Several case studies were conducted based on this model, which shows that such an integrated end-to-end model may be a valuable decision-support tool for de-risking the design and in-service phases of IFEP vessels. For example, it was demonstrated that a disturbance on the propeller could provoke a saturation of the gas turbine governor. Different power system architectures were proposed for IFEP power systems such as radial and hybrid AC/DC. For this thesis, an initial study was conducted to assess the relationship between the type of power system architecture and the vessel survivability. For this assessment an existing vessel survivability theory was further developed into a quantitative method. It was concluded that based on a comparative short circuit study and the proposed survivability method that the IFEP-hybrid AC/DC architecture offers the best vessel survivability.Complex multi-domain engineering systems, where for example mechanical and thermal (sub)systems are connected to each other in some way, have increasingly become a vital part of our society. An example of such a system is the Integrated Full Electric Propulsion (IFEP) concept for the marine shipping industry. With this IFEP concept, as opposed to the more conventional marine power system, the power for the ship's propulsion and ship's services is provided by a common power plant. This offers advantages including fuel efficiency and design flexibility. However, due to its system complexity and capital costs, it is important that the overall dynamic behaviour of these systems can be predicted in the early stages of the design. Predicting the overall system behaviour can be obtained by employing an integrated end-to-end model, which combines detailed models of for example the mechanical and electrical (sub)systems. This allows for example ship designers to investigate disturbances and the primary and higher order responses across the system. However, present existing simulation tools do not easily facilitate such employment of a holistic approach. In this thesis the focus is on how advanced modelling and simulation techniques can be used to de-risk the design and in-service of complex IFEP systems. The state-of-the-art modelling and simulation techniques as well as the IFEP application area are considered. An integrated-model of an IFEP vessel was developed under the EPSRC collaborative AMEPS (Advanced Marine Electric Propulsion System) research project, which forms a major part of this thesis. In order to reduce the computational burden, due to a wide variety of time constants in the IFEP system, a multi-rate simulation technique was proposed. It was demonstrated that a reduction in simulation execution time between 10-15 times can be achieved. However, it was conceptually argued that multi-rate simulation could introduce errors, which propagates itself across the system thereby provoking potential unrealistic responses from other subsystems. Several case studies were conducted based on this model, which shows that such an integrated end-to-end model may be a valuable decision-support tool for de-risking the design and in-service phases of IFEP vessels. For example, it was demonstrated that a disturbance on the propeller could provoke a saturation of the gas turbine governor. Different power system architectures were proposed for IFEP power systems such as radial and hybrid AC/DC. For this thesis, an initial study was conducted to assess the relationship between the type of power system architecture and the vessel survivability. For this assessment an existing vessel survivability theory was further developed into a quantitative method. It was concluded that based on a comparative short circuit study and the proposed survivability method that the IFEP-hybrid AC/DC architecture offers the best vessel survivability

Methodologies for Transient Simulation of Hybrid Electromagnetic/Circuit Systems with Multiple Time Scales

This work presents methodologies to facilitate the efficient cosimulation of electromagnetic/circuit systems while exploiting the multiple time scales that are often present in the numerical simulation of such systems. Three distinct approaches are presented to expedite such a simulation process, with the common theme that the methodologies should allow for the ability to utilize different timesteps in the simulation procedure for the different components appearing in a hybrid system. The first contribution involves a direct representation of each of Maxwell???s curl equations in terms of SPICE-equivalent circuit stamps. This provides for a full-wave, circuit-compatible description of a distributed structure that can very naturally be incorporated into a circuit simulation environment. This capability can be applied to circuit simulations of distributed structures, or it can facilitate the detailed simulation of an electrically small structure with full electromagnetic accuracy. The second contribution allows for the utilization of different numerical integration schemes and timesteps in the simulation of hybrid structures via a domain decomposition approach. By introducing a novel scheme to combine finite-difference time-domain simulation with SPICE-like circuit simulation, it is shown that the timestep used in the lumped circuit portions need not be limited by the Courant-Friedrichs-Lewy (CFL) limit which governs the timestep used in distributed portions. Additionally, the use of the Crank-Nicolson integration scheme is investigated for the simulation of transmission line structures, and an efficient methodology is proposed by combining the Crank-Nicolson integration of transmission lines and standard integration of circuits. Finally, the third contribution in this work involves efficient simulation of circuits involving multirate signals with widely separated time scales. An efficient representation of multirate signals is found by introducing a different time variable for each time scale in order to overcome the significant oversampling of such signals that arises from more traditional, univariate representations. This representation is then directly applied to the simulation of transmission line structures. It is found that the resulting methodologies provide for a significant speedup in the overall simulation time

Digital signal processing algorithms and structures for adaptive line enhancing

Imperial Users onl