3-D Velocity Regulation for Nonholonomic Source Seeking Without Position Measurement

We consider a three-dimensional problem of steering a nonholonomic vehicle to seek an unknown source of a spatially distributed signal field without any position measurement. In the literature, there exists an extremum seeking-based strategy under a constant forward velocity and tunable pitch and yaw velocities. Obviously, the vehicle with a constant forward velocity may exhibit certain overshoots in the seeking process and can not slow down even it approaches the source. To resolve this undesired behavior, this paper proposes a regulation strategy for the forward velocity along with the pitch and yaw velocities. Under such a strategy, the vehicle slows down near the source and stays within a small area as if it comes to a full stop, and controllers for angular velocities become succinct. We prove the local exponential convergence via the averaging technique. Finally, the theoretical results are illustrated with simulations.Comment: submitted to IEEE TCST;12 pages, 10 figure

Modélisation dynamique et commande optimale d'un système de réfrigération à base d'éjecteur

Recently, the ejector-based refrigeration system (ERS) has been widely used in the cooling industry as an appropriate alternative to the compressor-based cooling systems. However, the advantages of ERS such as the reliable operation and low operation and maintenance costs are overshadowed by its low efficiency and design complexity. In this context, this thesis presents the efforts to develop a control model enabling the ERS to operate in its optimal operational conditions. The extensive experimental studies of ERS revealed that at a fixed condenser inlet condition, there exists an optimal primary stream mass flow rate (generating pressure) that simultaneously maximizes the compression ratio (Cr) and exergy efficiency and minimizes the evaporating pressure. Then, the steady state models of the heat exchangers were developed and used to investigate the influence of the increase in generating pressure on the coefficient of performance (COP) of the system and it showed that increasing the generating pressure reduces the COP, linearly. In order to predict the choking regime of the ejector and explain the reasons of observed physical phenomenon, the 1D model of a fixed geometry ejector installed within an R245fa ERS was developed. The developed model demonstrated that the ejector operates in the subcritical mode when the generating pressure is below the Cr optimum point, while it operates in critical mode at or above the optimum generating pressure. Next, a dynamic model of the ERS was built to evaluate the ERS transient response to an increase in the primary stream mass flow rate. Since the ERS dynamics is mainly dominated by the thermal dynamics of the heat exchangers, the dynamic models of the heat exchangers were developed using the moving boundary approach and connected to the developed models of the ejector and steady state models of the pump and expansion valve to build a single dynamic model of the system. The built dynamic model of an ERS was used to estimate the time response of the system in the absence of accurate experimental data of the system’s dynamics. Finally, a control model was designed to drive an ERS towards its optimal operation condition. A self-optimizing, model-free control strategy known as Extremum seeking control (ESC) was adopted to minimize evaporating pressure in a fixed condenser thermal fluid inlet condition. The innovative ESC model named batch phasor ESC (BPESC) was proposed based on estimating the gradient by evaluating the phasor of the output, in batch time. The simulation results indicated that the designed BPESC model can seek and find the optimum evaporating pressure with good performance in terms of predicting the steady state optimal values and the convergence rates.Récemment, le système de réfrigération à éjecteur (SRE) a été largement utilisé dans l'industrie du refroidissement en tant que solution de remplacement appropriée aux systèmes de refroidissement à compresseur. Cependant, les avantages du SRE, tels que le fonctionnement fiable et les faibles couts d'exploitation et de maintenance, sont éclipsés par son faible rendement et sa complexité de conception. Dans ce contexte, ce projet de recherche de doctorat a détaillé les efforts déployés pour développer une stratégie de commande permettant au système de fonctionner dans ses conditions opérationnelles optimales. Les études expérimentales approfondies du SRE ont révélé que, dans une condition d'entrée de condensateur constante, il existe un débit massique optimal du flux primaire (générant une pression) qui maximise simultanément le taux de compression (Cr) et l'efficacité exergétique, et minimise la pression d’évaporation. Ensuite, les modèles à l’état d’équilibre des échangeurs de chaleur ont été développés et utilisés pour étudier l’influence de l’augmentation de la pression générée sur le coefficient de performance (COP) du système et il en ressort que l'augmentation de la pression génératrice réduit le COP de manière linéaire. Afin de prédire le régime d'étouffement de l'éjecteur et d'expliquer les raisons du phénomène physique observé, le modèle 1D d'un éjecteur à géométrie fixe installé dans un système SRE R245fa a été développé. Le modèle développé a démontré que l'éjecteur fonctionne en mode sous-critique lorsque la pression génératrice est inférieure au point optimal de Cr, alors qu'il fonctionne en mode critique à une pression égale ou supérieure à la pression génératrice optimale. Ensuite, un modèle dynamique du SRE a été développé pour étudier la réponse transitoire du SRE lors d’une augmentation du débit massique du flux primaire. Puisque la dynamique du SRE est principalement dominée par la dynamique thermique des échangeurs de chaleur, les modèles dynamiques des échangeurs de chaleur ont été développés à l'aide de l'approche des limites mobiles et connectés aux modèles développés de l'éjecteur et des modèles à l'état stationnaire de la pompe et de la vanne un seul modèle dynamique du système. En l’absence de données expérimentales précises sur la dynamique d’un système SRE, le modèle dynamique développé du SRE a été simulé numériquement pour étudier sa réponse temporelle. Enfin, une stratégie de commande extrêmale (ESC) a été élaboré pour régler automatiquement le SRE à ses conditions de fonctionnement optimales, c’est-à-dire pour trouver la vitesse de la pompe qui minimise la pression dans des conditions d'entrée de condenseur fixes. Afin de proposer une ESC implémentable en temps discret sur une installation réelle sujette à un bruit de mesure important et un traitement hors-ligne par trame, une nouvelle commande extrémale basée sur une approche par phaseur avec une procédure de traitement de signal par trame (BPESC) a été développée et simulée avec le modèle numérique. Les résultats de la simulation ont indiqué que le modèle BPESC peut trouver la vitesse optimale de la pompe avec de bonnes performances en termes de précision et de vitesse de convergence

An adaptive and energy-maximizing control of wave energy converters using extremum-seeking approach

In this paper, we systematically investigate the feasibility of different extremum-seeking (ES) control schemes to improve the conversion efficiency of wave energy converters (WECs). Continuous-time and model-free ES schemes based on the sliding mode, relay, least-squares gradient, self-driving, and perturbation-based methods are used to improve the mean extracted power of a heaving point absorber subject to regular and irregular waves. This objective is achieved by optimizing the resistive and reactive coefficients of the power take-off (PTO) mechanism using the ES approach. The optimization results are verified against analytical solutions and the extremum of reference-to-output maps. The numerical results demonstrate that except for the self-driving ES algorithm, the other four ES schemes reliably converge for the two-parameter optimization problem, whereas the former is more suitable for optimizing a single-parameter. The results also show that for an irregular sea state, the sliding mode and perturbation-based ES schemes have better convergence to the optimum, in comparison to other ES schemes considered here. The convergence of PTO coefficients towards the performance-optimal values are tested for widely different initial values, in order to avoid bias towards the extremum. We also demonstrate the adaptive capability of ES control by considering a case in which the ES controller adapts to the new extremum automatically amidst changes in the simulated wave conditions

Piezoelectrically Driven Thermoacoustic Refrigerator

Thermoacoustic refrigeration is an emerging refrigeration technology which does not require any moving parts or harmful refrigerants in its operation. This technology uses acoustic waves to pump heat across a temperature gradient. The vast majority of thermoacoustic refrigerators to date have used electromagnetic loudspeakers to generate the acoustic input. In this thesis, the design, construction, operation, and modeling of a piezoelectrically-driven thermoacoustic refrigerator are detailed. This refrigerator demonstrates the effectiveness of piezoelectric actuation in moving 0.3 W of heat across an 18 degree C temperature difference with an input power of 7.6 W. The performance characteristics of this class of thermoacoustic-piezoelectric refrigerators are modeled by using DeltaEC software and the predictions are experimentally validated. The obtained results confirm the validity of the developed model. Furthermore, the potential of piezoelectric actuation as effective means for driving thermoacoustic refrigerators is demonstrated as compared to the conventional electromagnetic loudspeakers which are heavy and require high actuation energy. The developed theoretical and experimental tools can serve as invaluable means for the design and testing of other piezoelectrically-driven thermoacoustic refrigerator configurations

Design and Control of a Standing-Wave Thermoacoustic Refrigerator

A thermoacoustic refrigerator was designed using a dimensionless parameter approach. Some basic insight into thermoacoustic design principles was obtained. The resulting device was used as a test bed for three different control schemes. The first was a phase-locked loop, which is the control method most often used in the literature; the second controller utilized a gradient ascent algorithm to track the operating frequency of maximum acoustic pressure; and the third utilized the same gradient ascent architecture to track the operating frequency corresponding to maximum acoustic power transfer to the resonator. The three controllers, tracking different parameters associated with a strong thermoacoustic effect, were compared in simulations and experiments. Difficulties in collecting data for the power controller resulted in unreliable data. Therefore, the power controller was not compared quantitatively with the other two. The PLL performed best in terms of thermoacoustic efficiency, but the acoustic pressure controller was able to produce more cooling power and converted electrical power to cooling power more efficiently due to the amplitude of the input voltage to the driver being held constant. The major short-coming of the gradient ascent approach was the relatively long convergence time. However, convergence time is not always relevant to refrigerator operation. The maximum acoustic pressure control scheme was determined to be the best controller considered because it has fewer sensors than the other two controllers, involves less computational effort than the power controller, and yielded better electrothermal performance than the PLL

Lyapunov based optimal control of a class of nonlinear systems

Optimal control of nonlinear systems is in fact difficult since it requires the solution to the Hamilton-Jacobi-Bellman (HJB) equation which has no closed-form solution. In contrast to offline and/or online iterative schemes for optimal control, this dissertation in the form of five papers focuses on the design of iteration free, online optimal adaptive controllers for nonlinear discrete and continuous-time systems whose dynamics are completely or partially unknown even when the states not measurable. Thus, in Paper I, motivated by homogeneous charge compression ignition (HCCI) engine dynamics, a neural network-based infinite horizon robust optimal controller is introduced for uncertain nonaffine nonlinear discrete-time systems. First, the nonaffine system is transformed into an affine-like representation while the resulting higher order terms are mitigated by using a robust term. The optimal adaptive controller for the affinelike system solves HJB equation and identifies the system dynamics provided a target set point is given. Since it is difficult to define the set point a priori in Paper II, an extremum seeking control loop is designed while maximizing an uncertain output function. On the other hand, Paper III focuses on the infinite horizon online optimal tracking control of known nonlinear continuous-time systems in strict feedback form by using state and output feedback by relaxing the initial admissible controller requirement. Paper IV applies the optimal controller from Paper III to an underactuated helicopter attitude and position tracking problem. In Paper V, the optimal control of nonlinear continuous-time systems in strict feedback form from Paper III is revisited by using state and output feedback when the internal dynamics are unknown. Closed-loop stability is demonstrated for all the controller designs developed in this dissertation by using Lyapunov analysis --Abstract, page iv

Extremum Seeking Maximum Power Point Tracking for a Stand-Alone and a Grid-Connected Photovoltaic Systems

Energy harvesting from solar sources in an attempt to increase efficiency has sparked interest in many communities to develop more energy harvesting applications for renewable energy topics. Advanced technical methods are required to ensure the maximum available power is harnessed from the photovoltaic (PV) system. This dissertation proposed a new discrete-in-time extremum-seeking (ES) based technique for tracking the maximum power point of a photovoltaic array. The proposed method is a true maximum power point tracker that can be implemented with reasonable processing effort on an expensive digital controller. The dissertation presented a stability analysis of the proposed method to guarantee the convergence of the algorithm. Two-types of PV systems were designed and comprehensive framework of control design was considered for a stand-alone and a three-phase grid connected system. Grid-tied systems commonly have a two-stage power electronics interface, which is necessary due to the inherent limitation of the DC-AC (Inverter) power converging stage. However, a one stage converter topology, denoted as Quasi-Z-source inverter (q-ZSI), was selected to interface the PV panel which overcomes the inverter limitations to harvest the maximum available power A powerful control scheme called Model Predictive Control with Finite Set (MPC-FS) was designed to control the grid connected system. The predictive control was selected to achieve a robust controller with superior dynamic response in conjunction with the extremum-seeking algorithm to enhance the system behavior. The proposed method exhibited a better performance in comparison to conventional Maximum Power Point Tracking (MPPT) methods and required less computational effort than the complex mathematical methods

Model free real-time optimization for vapor compression systems

A vapor compression system's optimal input settings vary according to changes in environmental conditions. Tracking these optimal input trajectories can be challenging when insufficient information for a reliable system model is available. An alternative set of optimization approaches use system measurements. This thesis focuses on one such approach, extremum seeking control, which uses performance index measurements to determine optimal system settings. Forgoing system model knowledge and relying exclusively on data allows an optimization approach to function well on many different plants. However, this added adaptivity comes at a performance cost. Using prior system model knowledge can be helpful for ensuring that a controller design works from the start of operation and inputs can be changed as soon as information about environmental conditions is updated. By contrast, data based methods may require the control designer to spend a time generating data in order to obtain enough information about the system to make good decisions online. A central theme of this work is addressing the trade off between using prior system model knowledge and ensuring sufficient adaptability of the extremum seeking optimization approach. Two main factors in the extremum seeking design are considered: the choice of extremum seeking control law and the choice of extremum seeking control input. Extremum seeking control laws come from the field of mathematical optimization; this thesis considers the pros and cons of choosing between gradient descent and Newton descent. Both simulations and experimental results show that while Newton descent extremum seeking is less reliant on model knowledge, but slower to find optimal inputs than gradient descent extremum seeking. Because of extremum seeking's adaptability to different plants, many different inputs can be chosen for implementation. However, using an approach known as self-optimizing control, knowledge about the plant's behavior can help choose set points with optimal values that are insensitive to changes in environmental conditions. Finding these special inputs turns the input tracking problem into a regulation problem. Both simulation and experimental results confirm that combining self-optimizing control and extremum seeking control can help improve tracking even as environmental conditions change

Thermal power plant boiler temperature distribution control based on extremum seeking strategy.

Termoelektrane predstavljaju vec´inske proizvod¯acˇe elektricˇne energije u svetu, što za posledicu ima stalne pokušaje unapred¯enja u vidu smanjenja štetnih uticaja na životnu sredinu uz pove´canje efikasnosti, raspoloživosti i prihoda. Pomenuti efekti su u direktnoj vezi sa procesom sagorevanja, zbog ˇcega su upravljanje i optimizacija ovog procesa od suštinskog znaˇcaja. Ove potrebe su ˇcesto ograniˇcene mogu´cnostima nadgledanja procesa sagorevanja. Obiˇcno se za sagledavanje ovog procesa analizira neko od dostupnih merenja dobijenih iz hemijskih analizatora sadržaja ugljen-monoksida ili kiseonika u dimnim gasovima, što je korisno za ocenu kvaliteta sagorevanja fosilnih goriva. Med¯utim, ovo su globalni pokazatelji i ne govore ništa o lokalnoj raspodeli temperatura unutar ložišta...Thermal power plants are the main producers of electrical energy in the world, and therefore there are constant attempts for improvement in terms of reducing harmful effects on the surroundings, while at the same time increasing eciency, availability and incomes. Aforementioned eects are directly related to the combustion process, which gives great importance to control and optimization of this process. These requirements are usually constrained by the possibilities of combustion process monitoring. This is mainly done by performing the acquisition of available measurements obtained from the chemical analysis of carbon dioxide and oxygen content in the flue gases, which is useful for the evaluation of fossil fuels combustion. However, these are only global indicators and they provide no information about the local temperature distribution inside the furnace..