Embedded Control of the DC Drive System for Education

Taking into account the spread use of the DC motor in robotics, the main objective of the chapter is to promote the knowledge regarding the development of the DC drive system, in didactical manner. Basically, for one motor control the cascaded loop DC drive system is used. Numerical implementation of the DC drive system based on Z-transform discrete method is provided. The electrical drive supposes both control types: the torque and speed. The feedback signals of the control loops are provided by using incremental encoder and of an original load torque estimator. Based on the DC motor dynamics, the appropriate parameters of the speed and torque controllers are provided automatically. On line parameters estimation of the DC motor can assure the performances of the DC drive controllers. The symmetrical and modulus optimum criteria are used. In order to prove the feasibility of the proposed solution, the entire Matlab script of the cascade control of the DC drive is provided. The strategy of the cascaded loop control at constant flux is divided into dynamic regime and into steady state regime. The chapter strategy follows two directions: the first, knowledge developments, the second, the applicative research through the real time implementation

Time Delay Handling in Dominant Pole Placement with PID Controllers to Obtain Stability Regions using Random Sampling

This is the author accepted manuscript. The final version is available from Taylor & Francis via the DOI in this recordThis paper proposes a new formulation of proportional-integral-derivative (PID) controller design using the dominant pole placement method for handling second order plus time delay (SOPTD) systems. The proposed method does not contain any finite term approximation like different orders of Pade for handling the time-delay term, in the quasi-polynomial characteristic equation. Rather it transforms the transcendental exponential delay term of the plant into finite number of discrete-time poles by a suitable choice of the sampling time. The PID controller has been represented by Tustin’s discretization method and the PID controller gains are obtained using the dominant pole placement criterion where the plant is discretized using the pole-zero matching method. A random search and optimization method has been used to obtain the stability region in the desired closed loop parameters space by minimising the integral squared error (ISE) criterion by randomly sampling from the stabilizable region and then these closed loop parameters are mapped on to the PID controller gains. Effectiveness of the proposed methodology is shown for nine test-bench plants with different lag to delay ratios and open loop damping levels, and the effect of choosing different sampling times, using credible numerical simulations.ESIF ERDF Cornwall New Energy (CNE

One-shot data-driven design of fractional-order PID controller considering closed-loop stability: fictitious reference signal approach

A one-shot data-driven tuning method for a fractional-order proportional-integral-derivative (FOPID) controller is proposed. The proposed method tunes the FOPID controller in the model-reference control formulation. A loss function is defined to evaluate the match between a given reference model and the closed-loop response while explicitly considering the closed-loop stability. A loss function value is based on the fictitious reference signal computed using the input/output data. Model matching is achieved via loss function minimization. The proposed method is simple and practical: it needs only one-shot input/output data of a plant (no plant model required), considers the bounded-input bounded-output stability of the closed-loop system, and automatically determines the appropriate parameter value via optimization. Numerical simulations show that the proposed approach facilitates good control performance, and destabilization can be avoided even if perfect model matching is unachievable

Discrete-Time Domain Modelling of Voltage Source Inverters in Standalone Applications:Enhancement of Regulators Performance by Means of Smith Predictor

The decoupling of the capacitor voltage and inductor current has been shown to improve significantly the dynamic performance of voltage source inverters in standalone applications. However, the computation and pulse width modulation delays still limit the achievable bandwidth. In this paper, a discrete-time domain modeling of an LC plant with consideration of delay and sample-and-hold effects on the state feedback cross-coupling decoupling is derived. From this plant formulation, current controllers with wide bandwidth and good relative stability properties are developed. Two controllers based on lead compensation and Smith predictor design, respectively, are obtained. Subsequently, the voltage regulator is also designed for a wide bandwidth, which permits the inclusion of resonant filters for the steady-state mitigation of odd harmonics at nonlinear unbalance load terminals. Discrete-time domain implementation issues of an antiwind up scheme are discussed as well, highlighting the limitations of some discretization methods. Extensive experimental results, including a short-circuit test, verify the theoretical analysis

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

Controller Design and Experimental Validation for Connected Vehicle Systems Subject to Digital Effects and Stochastic Packet Drops

Vehicle-to-everything (V2X) communication allows vehicles to monitor the nearby traffic environment, including participants that are beyond the line of sight. Equipping conventional vehicles with V2X devices results in connected vehicles (CVs) while incorporating the information provided by V2X devices into the controllers of automated vehicles (AVs) leads to connected automated vehicles (CAVs). CAVs have great potential for improving driving comfort, reducing fuel consumption and advancing active safety for individual vehicles, as well as enhancing traffic efficiency and mobility for human-dominated traffic systems. In this dissertation, we study a class of connected cruise control (CCC) algorithms for longitudinal control of CAVs, where they respond to the motion information of one or multiple connected vehicles ahead. For validation and demonstration purposes, we utilize a scaled connected vehicle testbed consisting of a group of ground robots, which can provide us with insights about the controller design of full-size vehicles. On the one hand, intermittencies in V2X communication combined with the digital implementation of controllers introduce information delays. To ensure the performance of individual CAVs and the overall traffic, a set of methods is proposed for design and analysis of such communication-based controllers. We validate them with the scaled testbed by conducting a series of experiments on two-car predecessor-follower systems, cascaded predecessor-follower systems, and more complex connected vehicle systems. It is demonstrated that CAVs utilizing information about multiple preceding vehicles in the CCC algorithm can improve the system performance even for low penetration levels. This can be beneficial at the early stage of vehicle automation when human-driven vehicles still dominate the traffic system. On the other hand, we study the delay variations caused by stochastic packet drops in V2X communication and derive the stochastic processes describing the dynamics for the predecessor-follower systems. The dynamics of the mean, second moment and covariance are utilized to obtain stability conditions. Then the results of the two-car predecessor-follower system with stochastic delay variations are extended to an open chain as well as to a closed ring of cascaded predecessor-followers where stochastic packet drops lead to heterogeneity among different V2X devices. It is shown that the proposed analytical methods allow CCC design for CAVs that can achieve stability and stochastic disturbance attenuation in the presence of stochastic packet drops in complex connected vehicle systems.PHDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/145874/1/wubing_1.pd

Wind gust estimation for precise quasi - hovering control of quadrotor aircraft

This paper focuses on the control of quadrotor vehicles without wind sensors that are required to accurately track low-speed trajectories in the presence of moderate yet unknown wind gusts. By modeling the wind disturbance as exogenous inputs, and assuming that compensation of its effects can be achieved through quasistatic vehicle motions, this paper proposes an innovative estimation and control scheme comprising a linear dynamic filter for the estimation of such unknown inputs and requiring only position and attitude information. The filter is built upon results from Unknown Input Observer theory and allows estimation of wind and vehicle state without measurement of the wind itself. A simple feedback control law can be used to compensate for the offset position error induced by the disturbance. The proposed filter is independent of the recovery control scheme used to nullify the tracking error, as long as the corresponding applied rotor speeds are available. The solution is first checked in simulation environment by using the Robot Operating System middleware and the Gazebo simulator and then experimentally validated with a quadcopter system flying with real wind sources

Diseño para operabilidad: Una revisión de enfoques y estrategias de solución

In the last decades the chemical engineering scientific research community has largely addressed the design-foroperability problem. Such an interest responds to the fact that the operability quality of a process is determined by design, becoming evident the convenience of considering operability issues in early design stages rather than later when the impact of modifications is less effective and more expensive. The necessity of integrating design and operability is dictated by the increasing complexity of the processes as result of progressively stringent economic, quality, safety and environmental constraints. Although the design-for-operability problem concerns to practically every technical discipline, it has achieved a particular identity within the chemical engineering field due to the economic magnitude of the involved processes. The work on design and analysis for operability in chemical engineering is really vast and a complete review in terms of papers is beyond the scope of this contribution. Instead, two major approaches will be addressed and those papers that in our belief had the most significance to the development of the field will be described in some detail.En las últimas décadas, la comunidad científica de ingeniería química ha abordado intensamente el problema de diseño-para-operabilidad. Tal interés responde al hecho de que la calidad operativa de un proceso esta determinada por diseño, resultando evidente la conveniencia de considerar aspectos operativos en las etapas tempranas del diseño y no luego, cuando el impacto de las modificaciones es menos efectivo y más costoso. La necesidad de integrar diseño y operabilidad esta dictada por la creciente complejidad de los procesos como resultado de las cada vez mayores restricciones económicas, de calidad de seguridad y medioambientales. Aunque el problema de diseño para operabilidad concierne a prácticamente toda disciplina, ha adquirido una identidad particular dentro de la ingeniería química debido a la magnitud económica de los procesos involucrados. El trabajo sobre diseño y análisis para operabilidad es realmente vasto y una revisión completa en términos de artículos supera los alcances de este trabajo. En su lugar, se discutirán los dos enfoques principales y aquellos artículos que en nuestra opinión han tenido mayor impacto para el desarrollo de la disciplina serán descriptos con cierto detalle.Fil: Blanco, Anibal Manuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Planta Piloto de Ingeniería Química. Universidad Nacional del Sur. Planta Piloto de Ingeniería Química; ArgentinaFil: Bandoni, Jose Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Planta Piloto de Ingeniería Química. Universidad Nacional del Sur. Planta Piloto de Ingeniería Química; Argentin