858 research outputs found

    Constrained field-oriented control of permanent magnet synchronous machine with field-weakening utilizing a reference governor

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    This paper presents a complete solution for constrained control of a permanent magnet synchronous machine. It utilizes field-oriented control with proportional-integral current controllers tuned to obtain a fast transient response and zero steady-state error. To ensure constraint satisfaction in the steady state, a novel field-weakening algorithm which is robust to flux linkage uncertainty is introduced. Field weakening problem is formulated as an optimization problem which is solved online using projected fast gradient method. To ensure constraint satisfaction during current transients, an additional device called current reference governor is added to the existing control loops. The constraint satisfaction is achieved by altering the reference signal. The reference governor is formulated as a simple optimization problem whose objective is to minimize the difference between the true reference and a modified one. The proposed method is implemented on Texas instruments F28343 200 MHz microcontroller and experimentally verified on a surface mounted permanent magnet synchronous machine

    Improving perceptual multimedia quality with an adaptable communication protocol

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    Copyrights @ 2005 University Computing Centre ZagrebInnovations and developments in networking technology have been driven by technical considerations with little analysis of the benefit to the user. In this paper we argue that network parameters that define the network Quality of Service (QoS) must be driven by user-centric parameters such as user expectations and requirements for multimedia transmitted over a network. To this end a mechanism for mapping user-oriented parameters to network QoS parameters is outlined. The paper surveys existing methods for mapping user requirements to the network. An adaptable communication system is implemented to validate the mapping. The architecture adapts to varying network conditions caused by congestion so as to maintain user expectations and requirements. The paper also surveys research in the area of adaptable communications architectures and protocols. Our results show that such a user-biased approach to networking does bring tangible benefits to the user

    Funnel Control Under Hard and Soft Output Constraints

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    This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety) constraints, and soft (performance) constraints are met only when they are not conflicting with the hard constraints. Next, the prescribed performance control method is employed for designing a robust low-complexity funnel-based controller for uncertain nonlinear Euler-Lagrangian systems such that the outputs always remain within the planned constraint consistent funnels. Finally, the results are verified with a simulation example of a mobile robot tracking a moving object while staying in a box-constrained safe space.Comment: 9 pages, 6 figures, submitted to 61st IEEE Conference on Decision and Control 202

    Class Hierarchy Complementation: Soundly Completing a Partial Type Graph

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    We present the problem of class hierarchy complementa- tion: given a partially known hierarchy of classes together with subtyping constraints (“A has to be a transitive sub- type of B”) complete the hierarchy so that it satisfies all con- straints. The problem has immediate practical application to the analysis of partial programs—e.g., it arises in the process of providing a sound handling of “phantom classes” in the Soot program analysis framework. We provide algorithms to solve the hierarchy complementation problem in the single inheritance and multiple inheritance settings. We also show that the problem in a language such as Java, with single in- heritance but multiple subtyping and distinguished class vs. interface types, can be decomposed into separate single- and multiple-subtyping instances. We implement our algorithms in a tool, JPhantom, which complements partial Java byte- code programs so that the result is guaranteed to satisfy the Java verifier requirements. JPhantom is highly scalable and runs in mere seconds even for large input applications and complex constraints (with a maximum of 14s for a 19MB binary)
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