9,839 research outputs found
A robust momentum management and attitude control system for the space station
A game theoretic controller is synthesized for momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Full state information is assumed since attitude rates are assumed to be very assurately measured. By an input-output decomposition of the uncertainty in the system matrices, the parameter uncertainties in the dynamic system are represented as an unknown gain associated with an internal feedback loop (IFL). The input and output matrices associated with the IFL form directions through which the uncertain parameters affect system response. If the quadratic form of the IFL output augments the cost criterion, then enhanced parameter robustness is anticipated. By considering the input and the input disturbance from the IFL as two noncooperative players, a linear-quadratic differential game is constructed. The solution in the form of a linear controller is used for synthesis. Inclusion of the external disturbance torques results in a dynamic feedback controller which consists of conventional PID (proportional integral derivative) control and cyclic disturbance rejection filters. It is shown that the game theoretic design allows large variations in the inertias in directions of importance
Offset-free feedback linearisation control of a three-phase grid-connected photovoltaic system
In this study, a state feedback control law is combined with a disturbance observer to enhance disturbance rejection capability of a grid-connected photovoltaic (PV) inverter. The control law is based on input-output feedback linearisation technique, while the existing disturbance observer is simplified and adopted for the system under investigation. The resulting control law has a proportional-integral (PI)/almost PI-derivative-like structure, which is convenient for real-time implementation. The objective of the proposed approach is to improve the DC-bus voltage regulation, while at the same time control the power exchange between the PV system and the grid. The stability of the closed-loop system under the composite controller is guaranteed by simple design parameters. Both simulation and experimental results show that the proposed method has significant abilities to initiate fast current control and accurate adjustment of the DC-bus voltage under model uncertainty and external disturbance
Observer-based tuning of two-inertia servo-drive systems with integrated SAW torque transducers
This paper proposes controller design and tuning
methodologies that facilitate the rejection of periodic load-side disturbances applied to a torsional mechanical system while simultaneously compensating for the observer’s inherent phase delay. This facilitates the use of lower-bandwidth practically realizable disturbance observers. The merits of implementing full- and reduced-order observers are investigated, with the latter being implemented with a new low-cost servo-machine-integrated highband width
torque-sensing device based on surface acoustic wave
(SAW) technology. Specifically, the authors’ previous work based on proportional–integral–derivative (PID) and resonance ratio control (RRC) controllers (IEEE Trans. Ind. Electron., vol. 53, no. 4, pp. 1226–1237, Aug. 2006) is augmented with observer disturbance feedback. It is shown that higher-bandwidth disturbance observers are required to maximize disturbance attenuation over the low-frequency band (as well as the desired rejection frequency), thereby attenuating a wide range of possible frequencies. In such cases, therefore, it is shown that the RRC controller is
the preferred solution since it can employ significantly higher observer bandwidth, when compared to PID counterparts, by virtue of reduced noise sensitivity. Furthermore, it is demonstrated that the prototype servo-machine-integrated 20-N · mSAWtorque transducer is not unduly affected by machine-generated electromagnetic
noise and exhibits similar dynamic behavior as a
conventional instrument inline torque transducer
Suppression of line voltage related distortion in current controlled grid connected inverters
The influence of selected control strategies on the level
of low-order current harmonic distortion generated by an inverter
connected to a distorted grid is investigated through a combination
of theoretical and experimental studies. A detailed theoretical
analysis, based on the concept of harmonic impedance, establishes
the suitability of inductor current feedback versus output
current feedback with respect to inverter power quality. Experimental
results, obtained from a purpose-built 500-W, three-level,
half-bridge inverter with an L-C-L output filter, verify the efficacy of inductor current as the feedback variable, yielding an
output current total harmonic distortion (THD) some 29% lower
than that achieved using output current feedback. A feed-forward
grid voltage disturbance rejection scheme is proposed as a means to
further reduce the level of low-order current harmonic distortion.
Results obtained from an inverter with inductor current feedback
and optimized feed-forward disturbance rejection show a THD of
just 3% at full-load, representing an improvement of some 53% on
the same inverter with output current feedback and no feed-forward
compensation. Significant improvements in THD were also
achieved across the entire load range. It is concluded that the use
of inductor current feedback and feed-forward voltage disturbance
rejection represent cost–effect mechanisms for achieving improved
output current quality
SAW torque transducers for disturbance rejection and tracking control of multi-inertia servo-drive systems
The paper proposes a resonance ratio control (RRC) technique for the coordinated motion control of multi-inertia mechanical systems, based on the measurement of shaft torque via a SAW-based torque sensor. Furthermore, a new controller structure, RRC plus disturbance feedback is proposed, which enables the controller to be designed to independently satisfy tracking and regulation performance. A tuning method for the RRC structure is given based on the ITAE index, normalized as a function of the mechanical parameters enabling a direct performance comparison between a basic proportional and integral (PI) controller. The use of a reduced-order state observer is presented to provide a dynamic estimate of the load-side disturbance torque for a multi-inertia mechanical system, with an appraisal of the composite closed-loop dynamics. It is shown that the integrated formulation of the tuning criteria enables lower bandwidth observers to be implemented with a corresponding reduction in noise and computational load. The control structures are experimentally validated via a purpose designed test facility and demonstrate significant improvement in dynamic tracking performance, whilst additionally rejecting periodic load side disturbances, a feature previously unrealisable except by other, high-gain control schemes that impose small stability margins
High-performance control of dual-inertia servo-drive systems using low-cost integrated SAW torque transducers
Abstract—This paper provides a systematic comparative
study of compensation schemes for the coordinated motion
control of two-inertia mechanical systems. Specifically, classical proportional–integral (PI), proportional–integral–derivative (PID), and resonance ratio control (RRC) are considered, with an enhanced structure based on RRC, termed RRC+, being proposed. Motor-side and load-side dynamics for each control structure are identified, with the “integral of time multiplied by absolute
error” performance index being employed as a benchmark metric. PID and RRC control schemes are shown to be identical from a closed-loop perspective, albeit employing different feedback sensing mechanisms. A qualitative study of the practical effects of employing each methodology shows that RRC-type structures
provide preferred solutions if low-cost high-performance torque transducers can be employed, for instance, those based on surface acoustic wave tecnologies. Moreover, the extra degree of freedom afforded by both PID and RRC, as compared with the basic PI, is shown to be sufficient to simultaneously induce optimal closed-loop performance and independent selection of virtual inertia ratio. Furthermore, the proposed RRC+ scheme is subsequently
shown to additionally facilitate independent assignment
of closed-loop bandwidth. Summary attributes of the investigation are validated by both simulation studies and by realization of the methodologies for control of a custom-designed two-inertia system
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